2 # -*- coding: iso-8859-15 -*-
10 from time import sleep
11 from i2c import i2c, i2c_write_reg, i2c_read_reg
13 from geometry_msgs.msg import Twist
14 from nav_msgs.msg import Odometry
15 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
16 from dynamic_reconfigure.server import Server
17 from sensor_msgs.msg import Imu, Range, BatteryState
18 from wild_thumper.cfg import WildThumperConfig
19 from std_srvs.srv import SetBool, SetBoolResponse
22 BATTERY_CAPACITY_FULL = 2.750 # Ah, NiMH=2.750, LiFePO4=3.100
27 rospy.init_node('wild_thumper')
28 prctl.set_name("wild_thumper")
29 enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
31 self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
33 self.tf_broadcaster = None
34 self.dyn_conf = Server(WildThumperConfig, self.execute_dyn_reconf)
35 self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
36 self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
37 self.pub_range_fwd_left = rospy.Publisher("range_forward_left", Range, queue_size=16)
38 self.pub_range_fwd_right = rospy.Publisher("range_forward_right", Range, queue_size=16)
39 self.pub_range_bwd = rospy.Publisher("range_backward", Range, queue_size=16)
40 self.pub_battery = rospy.Publisher("battery", BatteryState, queue_size=16)
43 self.bMotorManual = False
45 self.volt_last_warn = rospy.Time.now()
46 i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
47 rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
48 rospy.Subscriber("imu", Imu, self.imuReceived)
49 rospy.Service('~manipulator_enable', SetBool, self.enableManipulator)
51 self.bDocked_last = False
52 self.battery_capacity = BATTERY_CAPACITY_FULL*3600 # As
53 rospy.loginfo("Init done")
57 rate = rospy.Rate(UPDATE_RATE)
58 sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
59 reset_val = self.get_reset()
60 rospy.loginfo("Reset Status: 0x%x" % reset_val)
62 i2c_write_reg(0x50, 0xA4, struct.pack("B", 1)) # enable Watchdog
63 while not rospy.is_shutdown():
64 rospy.logdebug("Loop alive")
65 #print "Watchdog", struct.unpack(">B", i2c_read_reg(0x50, 0xA4, 1))[0]
66 #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
72 self.get_dist_forward_left()
73 self.update_dist_backward()
75 elif sonar_count == 1:
76 self.get_dist_backward()
77 self.update_dist_forward_right()
79 elif sonar_count == 2:
80 self.get_dist_forward_right()
81 self.update_dist_forward_left()
84 if self.cmd_vel != None:
85 self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
86 self.cur_vel = self.cmd_vel
92 def execute_dyn_reconf(self, config, level):
93 self.bClipRangeSensor = config["range_sensor_clip"]
94 self.range_sensor_max = config["range_sensor_max"]
95 self.range_sensor_fov = config["range_sensor_fov"]
96 self.odom_covar_xy = config["odom_covar_xy"]
97 self.odom_covar_angle = config["odom_covar_angle"]
98 self.rollover_protect = config["rollover_protect"]
99 self.rollover_protect_limit = config["rollover_protect_limit"]
100 self.rollover_protect_pwm = config["rollover_protect_pwm"]
101 self.bStayDocked = config["stay_docked"]
105 def imuReceived(self, msg):
106 if self.rollover_protect and (any(self.cur_vel) or self.bMotorManual):
107 (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
108 if pitch > self.rollover_protect_limit*pi/180:
109 self.bMotorManual = True
110 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, self.rollover_protect_pwm, 0, self.rollover_protect_pwm))
111 rospy.logwarn("Running forward rollver protection")
112 elif pitch < -self.rollover_protect_limit*pi/180:
113 self.bMotorManual = True
114 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", -self.rollover_protect_pwm, 0, -self.rollover_protect_pwm, 0))
115 rospy.logwarn("Running backward rollver protection")
116 elif self.bMotorManual:
117 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0))
118 self.bMotorManual = False
119 self.cmd_vel = (0, 0)
120 rospy.logwarn("Rollver protection done")
123 reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
125 msg = DiagnosticArray()
126 msg.header.stamp = rospy.Time.now()
127 stat = DiagnosticStatus()
128 stat.name = "Reset reason"
129 stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
130 stat.message = "0x%02x" % reset
132 wdrf = bool(reset & (1 << 3))
133 if wdrf: rospy.loginfo("Watchdog Reset")
134 borf = bool(reset & (1 << 2))
135 if borf: rospy.loginfo("Brown-out Reset Flag")
136 extrf = bool(reset & (1 << 1))
137 if extrf: rospy.loginfo("External Reset Flag")
138 porf = bool(reset & (1 << 0))
139 if porf: rospy.loginfo("Power-on Reset Flag")
140 stat.values.append(KeyValue("Watchdog Reset Flag", str(wdrf)))
141 stat.values.append(KeyValue("Brown-out Reset Flag", str(borf)))
142 stat.values.append(KeyValue("External Reset Flag", str(extrf)))
143 stat.values.append(KeyValue("Power-on Reset Flag", str(porf)))
145 msg.status.append(stat)
146 self.pub_diag.publish(msg)
150 def get_motor_err(self):
151 err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
153 msg = DiagnosticArray()
154 msg.header.stamp = rospy.Time.now()
155 stat = DiagnosticStatus()
156 stat.name = "Motor: Error Status"
157 stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
158 stat.message = "0x%02x" % err
161 stat.values.append(KeyValue("aft left diag", str(bool(err & (1 << 0)))))
162 stat.values.append(KeyValue("front left diag", str(bool(err & (1 << 1)))))
163 stat.values.append(KeyValue("aft right diag", str(bool(err & (1 << 2)))))
164 stat.values.append(KeyValue("front right diag", str(bool(err & (1 << 3)))))
166 stat.values.append(KeyValue("aft left stall", str(bool(err & (1 << 4)))))
167 stat.values.append(KeyValue("front left stall", str(bool(err & (1 << 5)))))
168 stat.values.append(KeyValue("aft right stall", str(bool(err & (1 << 6)))))
169 stat.values.append(KeyValue("front right stall", str(bool(err & (1 << 7)))))
171 msg.status.append(stat)
172 self.pub_diag.publish(msg)
175 volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
176 current = struct.unpack(">h", i2c_read_reg(0x52, 0x0D, 2))[0]/1000.0
178 msg = DiagnosticArray()
179 msg.header.stamp = rospy.Time.now()
180 stat = DiagnosticStatus()
182 stat.level = DiagnosticStatus.ERROR if volt < 7 or current > 5 else DiagnosticStatus.OK
183 stat.message = "%.2fV, %.2fA" % (volt, current)
185 msg.status.append(stat)
186 self.pub_diag.publish(msg)
188 if volt < 7 and (rospy.Time.now() - self.volt_last_warn).to_sec() > 10:
189 rospy.logerr("Voltage critical: %.2fV" % (volt))
190 self.volt_last_warn = rospy.Time.now()
192 self.bDocked = volt > 10.1
193 self.update_capacity(volt, current)
195 if self.pub_battery.get_num_connections() > 0:
196 batmsg = BatteryState()
197 batmsg.header.stamp = rospy.Time.now()
198 batmsg.voltage = volt
199 batmsg.current = current
200 batmsg.charge = self.battery_capacity/3600.0
201 batmsg.capacity = float('nan')
202 batmsg.design_capacity = BATTERY_CAPACITY_FULL
203 batmsg.percentage = batmsg.charge/batmsg.design_capacity
204 batmsg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING
205 batmsg.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_UNKNOWN
206 batmsg.power_supply_technology = BatteryState.POWER_SUPPLY_TECHNOLOGY_NIMH
207 batmsg.present = True
208 self.pub_battery.publish(batmsg)
210 def update_capacity(self, volt, current):
212 self.battery_capacity = BATTERY_CAPACITY_FULL*3600
214 self.battery_capacity -= current/UPDATE_RATE
217 speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
218 current_time = rospy.Time.now()
220 # since all odometry is 6DOF we'll need a quaternion created from yaw
221 odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
223 # first, we'll publish the transform over tf
224 if self.tf_broadcaster is not None:
225 self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
227 # next, we'll publish the odometry message over ROS
229 odom.header.stamp = current_time
230 odom.header.frame_id = "odom"
233 odom.pose.pose.position.x = posx
234 odom.pose.pose.position.y = posy
235 odom.pose.pose.position.z = 0.0
236 odom.pose.pose.orientation.x = odom_quat[0]
237 odom.pose.pose.orientation.y = odom_quat[1]
238 odom.pose.pose.orientation.z = odom_quat[2]
239 odom.pose.pose.orientation.w = odom_quat[3]
240 odom.pose.covariance[0] = self.odom_covar_xy # x
241 odom.pose.covariance[7] = self.odom_covar_xy # y
242 odom.pose.covariance[14] = self.odom_covar_xy # z
243 odom.pose.covariance[21] = self.odom_covar_angle # rotation about X axis
244 odom.pose.covariance[28] = self.odom_covar_angle # rotation about Y axis
245 odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
248 odom.child_frame_id = "base_footprint"
249 odom.twist.twist.linear.x = speed_trans
250 odom.twist.twist.linear.y = 0.0
251 odom.twist.twist.linear.z = 0.0
252 odom.twist.twist.angular.z = speed_rot
253 odom.twist.covariance = odom.pose.covariance
255 # publish the message
256 self.pub_odom.publish(odom)
259 def set_speed(self, trans, rot):
260 i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
262 def cmdVelReceived(self, msg):
263 if not self.bMotorManual:
264 rospy.logdebug("Set new cmd_vel: %.2f %.2f", msg.linear.x, msg.angular.z)
265 self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
266 rospy.logdebug("Set new cmd_vel done")
268 # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
269 def get_dist_ir(self, num):
271 s = struct.pack("B", num)
281 val = struct.unpack(">H", s)[0]
284 def start_dist_srf(self, num):
286 s = struct.pack("B", num)
290 def read_dist_srf(self, num):
291 return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0
293 def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
294 if self.bClipRangeSensor and dist > max_range:
297 msg.header.stamp = rospy.Time.now()
298 msg.header.frame_id = frame_id
299 msg.radiation_type = typ
300 msg.field_of_view = fov_deg*pi/180
301 msg.min_range = min_range
302 msg.max_range = max_range
306 def get_dist_forward_left(self):
307 if self.pub_range_fwd_left.get_num_connections() > 0:
308 dist = self.read_dist_srf(0x15)
309 self.send_range(self.pub_range_fwd_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov)
311 def update_dist_forward_left(self):
312 if self.pub_range_fwd_left.get_num_connections() > 0:
313 self.start_dist_srf(0x5)
315 def get_dist_backward(self):
316 if self.pub_range_bwd.get_num_connections() > 0:
317 dist = self.read_dist_srf(0x17)
318 self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov)
320 def update_dist_backward(self):
321 if self.pub_range_bwd.get_num_connections() > 0:
322 self.start_dist_srf(0x7)
324 def get_dist_forward_right(self):
325 if self.pub_range_fwd_right.get_num_connections() > 0:
326 dist = self.read_dist_srf(0x19)
327 self.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov)
329 def update_dist_forward_right(self):
330 if self.pub_range_fwd_right.get_num_connections() > 0:
331 self.start_dist_srf(0xb)
333 def check_docked(self):
334 if self.bDocked and not self.bDocked_last:
335 rospy.loginfo("Docking event")
336 elif not self.bDocked and self.bDocked_last:
337 if not self.bStayDocked or self.cur_vel != (0, 0):
338 rospy.loginfo("Undocking event")
340 rospy.loginfo("Undocking event..redocking")
341 thread.start_new_thread(self.redock, ())
343 self.bDocked_last = self.bDocked
346 self.cmd_vel = (-0.1, 0)
351 self.cmd_vel = (0, 0)
353 rospy.loginfo("Redocking done")
355 rospy.logerr("Redocking failed")
357 def enableManipulator(self, msg):
358 rospy.loginfo("Set Manipulator: %d", msg.data)
359 i2c_write_reg(0x52, 0x0f, chr(msg.data))
360 return SetBoolResponse(True, "")
362 if __name__ == "__main__":