dcae6740c02b7fa35e07eb7416f75293cc0819eb
[ros_wild_thumper.git] / scripts / wt_node.py
1 #!/usr/bin/env python
2 # -*- coding: iso-8859-15 -*-
3
4 import rospy
5 import tf
6 import struct
7 import prctl
8 from i2c import *
9 from math import *
10 from geometry_msgs.msg import Twist
11 from nav_msgs.msg import Odometry
12 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
13 from sensor_msgs.msg import Imu, Range
14
15 WHEEL_DIST = 0.248
16
17 class MoveBase:
18         def __init__(self):
19                 rospy.init_node('wild_thumper')
20                 prctl.set_name("wild_thumper")
21                 rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
22                 rospy.Subscriber("imu", Imu, self.imuReceived)
23                 enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
24                 if enable_odom_tf:
25                         self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
26                 else:
27                         self.tf_broadcaster = None
28                 self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
29                 self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
30                 self.pub_range_fwd = rospy.Publisher("range_forward", Range, queue_size=16)
31                 self.pub_range_bwd = rospy.Publisher("range_backward", Range, queue_size=16)
32                 self.pub_range_left = rospy.Publisher("range_left", Range, queue_size=16)
33                 self.pub_range_right = rospy.Publisher("range_right", Range, queue_size=16)
34                 self.set_speed(0, 0)
35                 rospy.loginfo("Init done")
36                 i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
37                 self.handicap_last = (-1, -1)
38                 self.run()
39         
40         def run(self):
41                 rate = rospy.Rate(20.0)
42                 reset_val = self.get_reset()
43                 rospy.loginfo("Reset Status: 0x%x" % reset_val)
44                 i = 0
45                 while not rospy.is_shutdown():
46                         #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
47                         self.get_tle_err()
48                         self.get_odom()
49                         self.get_voltage()
50                         if i % 2:
51                                 self.get_dist_forward()
52                                 self.get_dist_left()
53                         else:
54                                 self.get_dist_backward()
55                                 self.get_dist_right()
56                         i+=1
57                         rate.sleep()
58
59         def set_motor_handicap(self, front, aft): # percent
60                 if self.handicap_last != (front, aft):
61                         i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
62                         self.handicap_last = (front, aft)
63
64         def imuReceived(self, msg):
65                 (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
66                 if pitch > 30*pi/180:
67                         val = (100.0/65)*abs(pitch)*180/pi
68                         self.set_motor_handicap(int(val), 0)
69                 elif pitch < -30*pi/180:
70                         val = (100.0/65)*abs(pitch)*180/pi
71                         self.set_motor_handicap(0, int(val))
72                 else:
73                         self.set_motor_handicap(0, 0)
74
75         def get_reset(self):
76                 reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
77
78                 msg = DiagnosticArray()
79                 msg.header.stamp = rospy.Time.now()
80                 stat = DiagnosticStatus()
81                 stat.name = "Reset reason"
82                 stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
83                 stat.message = "0x%02x" % reset
84
85                 stat.values.append(KeyValue("Watchdog Reset Flag", str(bool(reset & (1 << 3)))))
86                 stat.values.append(KeyValue("Brown-out Reset Flag", str(bool(reset & (1 << 2)))))
87                 stat.values.append(KeyValue("External Reset Flag", str(bool(reset & (1 << 1)))))
88                 stat.values.append(KeyValue("Power-on Reset Flag", str(bool(reset & (1 << 0)))))
89
90                 msg.status.append(stat)
91                 self.pub_diag.publish(msg)
92                 return reset
93
94
95         def get_tle_err(self):
96                 err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
97                 
98                 msg = DiagnosticArray()
99                 msg.header.stamp = rospy.Time.now()
100                 stat = DiagnosticStatus()
101                 stat.name = "Motor: Error Status"
102                 stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
103                 stat.message = "0x%02x" % err
104
105                 stat.values.append(KeyValue("aft left", str(bool(err & (1 << 0)))))
106                 stat.values.append(KeyValue("front left", str(bool(err & (1 << 1)))))
107                 stat.values.append(KeyValue("front right", str(bool(err & (1 << 2)))))
108                 stat.values.append(KeyValue("aft right", str(bool(err & (1 << 3)))))
109
110                 msg.status.append(stat)
111                 self.pub_diag.publish(msg)
112         
113         def get_voltage(self):
114                 volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
115
116                 msg = DiagnosticArray()
117                 msg.header.stamp = rospy.Time.now()
118                 stat = DiagnosticStatus()
119                 stat.name = "Voltage"
120                 stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
121                 stat.message = "%.2fV" % volt
122
123                 msg.status.append(stat)
124                 self.pub_diag.publish(msg)
125
126
127         def get_odom(self):
128                 posx, posy, angle = struct.unpack(">fff", i2c_read_reg(0x50, 0x40, 12))
129                 speed_trans, speed_rot = struct.unpack(">ff", i2c_read_reg(0x50, 0x38, 8))
130                 current_time = rospy.Time.now()
131
132                 # since all odometry is 6DOF we'll need a quaternion created from yaw
133                 odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
134
135                 # first, we'll publish the transform over tf
136                 if self.tf_broadcaster is not None:
137                         self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
138
139                 # next, we'll publish the odometry message over ROS
140                 odom = Odometry()
141                 odom.header.stamp = current_time
142                 odom.header.frame_id = "odom"
143
144                 # set the position
145                 odom.pose.pose.position.x = posx
146                 odom.pose.pose.position.y = posy
147                 odom.pose.pose.position.z = 0.0
148                 odom.pose.pose.orientation.x = odom_quat[0]
149                 odom.pose.pose.orientation.y = odom_quat[1]
150                 odom.pose.pose.orientation.z = odom_quat[2]
151                 odom.pose.pose.orientation.w = odom_quat[3]
152                 odom.pose.covariance[0] = 1e-3 # x
153                 odom.pose.covariance[7] = 1e-3 # y
154                 odom.pose.covariance[14] = 1e6 # z
155                 odom.pose.covariance[21] = 1e6 # rotation about X axis
156                 odom.pose.covariance[28] = 1e6 # rotation about Y axis
157                 odom.pose.covariance[35] = 0.03 # rotation about Z axis
158
159                 # set the velocity
160                 odom.child_frame_id = "base_footprint"
161                 odom.twist.twist.linear.x = speed_trans
162                 odom.twist.twist.linear.y = 0.0
163                 odom.twist.twist.angular.z = speed_rot
164                 odom.twist.covariance[0] = 1e-3 # x
165                 odom.twist.covariance[7] = 1e-3 # y
166                 odom.twist.covariance[14] = 1e6 # z
167                 odom.twist.covariance[21] = 1e6 # rotation about X axis
168                 odom.twist.covariance[28] = 1e6 # rotation about Y axis
169                 odom.twist.covariance[35] = 0.03 # rotation about Z axis
170
171                 # publish the message
172                 self.pub_odom.publish(odom)
173
174         
175         def set_speed(self, trans, rot):
176                 i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
177
178         def cmdVelReceived(self, msg):
179                 trans = msg.linear.x
180                 rot = msg.angular.z # rad/s
181                 self.set_speed(trans, rot)
182
183         # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
184         def get_dist_ir(self, num):
185                 dev = i2c(0x52)
186                 s = struct.pack("B", num)
187                 dev.write(s)
188                 dev.close()
189
190                 sleep(2e-6)
191
192                 dev = i2c(0x52)
193                 s = dev.read(2)
194                 dev.close()
195
196                 val = struct.unpack(">H", s)[0]
197                 return val
198         
199         def start_dist_srf(self, num):
200                 dev = i2c(0x52)
201                 s = struct.pack("B", num)
202                 dev.write(s)
203                 dev.close()
204
205         def read_dist_srf(self, num):
206                 dev = i2c(0x52)
207                 s = struct.pack("B", num)
208                 dev.write(s)
209                 dev.close()
210
211                 dev = i2c(0x52)
212                 s = dev.read(2)
213                 dev.close()
214
215                 return struct.unpack(">H", s)[0]/1000.0
216
217         def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
218                 msg = Range()
219                 msg.header.stamp = rospy.Time.now()
220                 msg.header.frame_id = frame_id
221                 msg.radiation_type = typ
222                 msg.field_of_view = fov_deg*pi/180
223                 msg.min_range = min_range
224                 msg.max_range = max_range
225                 msg.range = dist
226                 pub.publish(msg)
227
228         def get_dist_left(self):
229                 if self.pub_range_left.get_num_connections() > 0:
230                         dist = 30.553/(self.get_dist_ir(0x1) - -67.534)
231                         self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.04, 0.3, 1)
232
233         def get_dist_right(self):
234                 if self.pub_range_right.get_num_connections() > 0:
235                         dist = 17.4/(self.get_dist_ir(0x3) - 69)
236                         self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, dist, 0.04, 0.3, 1)
237
238         def get_dist_forward(self):
239                 if self.pub_range_fwd.get_num_connections() > 0:
240                         dist = self.read_dist_srf(0x15)
241                         self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 40)
242                         self.start_dist_srf(0x5) # get next value
243
244         def get_dist_backward(self):
245                 if self.pub_range_bwd.get_num_connections() > 0:
246                         dist = self.read_dist_srf(0x17)
247                         self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 40)
248                         self.start_dist_srf(0x7) # get next value
249                 
250
251 if __name__ == "__main__":
252         MoveBase()