2 # -*- coding: iso-8859-15 -*-
11 from geometry_msgs.msg import Twist
12 from nav_msgs.msg import Odometry
13 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
14 from sensor_msgs.msg import Imu, Range
15 from wild_thumper.msg import LedStripe
20 def __init__(self, bus, device, num_leds):
21 self.spi = spidev.SpiDev()
22 self.spi.open(bus, device)
24 self.spi.max_speed_hz=int(2e6)
25 self.num_leds = num_leds
27 self.l = [(0, 0, 0)] * num_leds
30 def set(self, i, red=0, green=0, blue=0):
31 if red > 127 or green > 127 or blue >> 127 or red < 0 or green < 0 or blue < 0:
32 raise Exception("Bad RGB Value")
33 self.l[i] = (red, green, blue)
36 self.spi.writebytes([0x0 for i in range((self.num_leds+31)/32)])
40 for i in range(self.num_leds):
41 red, green, blue = self.l[i]
42 l.append(0x80 | green)
45 self.spi.writebytes(l)
50 rospy.init_node('wild_thumper')
51 prctl.set_name("wild_thumper")
52 enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
54 self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
56 self.tf_broadcaster = None
57 self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
58 self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
59 self.pub_range_fwd = rospy.Publisher("range_forward", Range, queue_size=16)
60 self.pub_range_bwd = rospy.Publisher("range_backward", Range, queue_size=16)
61 self.pub_range_left = rospy.Publisher("range_left", Range, queue_size=16)
62 self.pub_range_right = rospy.Publisher("range_right", Range, queue_size=16)
64 rospy.loginfo("Init done")
65 i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
66 self.handicap_last = (-1, -1)
67 self.pStripe = LPD8806(1, 0, 12)
68 rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
69 rospy.Subscriber("imu", Imu, self.imuReceived)
70 rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
74 rate = rospy.Rate(20.0)
75 reset_val = self.get_reset()
76 rospy.loginfo("Reset Status: 0x%x" % reset_val)
78 while not rospy.is_shutdown():
79 #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
84 self.get_dist_forward()
87 self.get_dist_backward()
92 def set_motor_handicap(self, front, aft): # percent
93 if self.handicap_last != (front, aft):
94 i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
95 self.handicap_last = (front, aft)
97 def imuReceived(self, msg):
98 (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
100 val = (100.0/65)*abs(pitch)*180/pi
101 self.set_motor_handicap(int(val), 0)
102 elif pitch < -30*pi/180:
103 val = (100.0/65)*abs(pitch)*180/pi
104 self.set_motor_handicap(0, int(val))
106 self.set_motor_handicap(0, 0)
109 reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
111 msg = DiagnosticArray()
112 msg.header.stamp = rospy.Time.now()
113 stat = DiagnosticStatus()
114 stat.name = "Reset reason"
115 stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
116 stat.message = "0x%02x" % reset
118 stat.values.append(KeyValue("Watchdog Reset Flag", str(bool(reset & (1 << 3)))))
119 stat.values.append(KeyValue("Brown-out Reset Flag", str(bool(reset & (1 << 2)))))
120 stat.values.append(KeyValue("External Reset Flag", str(bool(reset & (1 << 1)))))
121 stat.values.append(KeyValue("Power-on Reset Flag", str(bool(reset & (1 << 0)))))
123 msg.status.append(stat)
124 self.pub_diag.publish(msg)
128 def get_tle_err(self):
129 err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
131 msg = DiagnosticArray()
132 msg.header.stamp = rospy.Time.now()
133 stat = DiagnosticStatus()
134 stat.name = "Motor: Error Status"
135 stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
136 stat.message = "0x%02x" % err
138 stat.values.append(KeyValue("aft left", str(bool(err & (1 << 0)))))
139 stat.values.append(KeyValue("front left", str(bool(err & (1 << 1)))))
140 stat.values.append(KeyValue("front right", str(bool(err & (1 << 2)))))
141 stat.values.append(KeyValue("aft right", str(bool(err & (1 << 3)))))
143 msg.status.append(stat)
144 self.pub_diag.publish(msg)
146 def get_voltage(self):
147 volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
149 msg = DiagnosticArray()
150 msg.header.stamp = rospy.Time.now()
151 stat = DiagnosticStatus()
152 stat.name = "Voltage"
153 stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
154 stat.message = "%.2fV" % volt
156 msg.status.append(stat)
157 self.pub_diag.publish(msg)
161 posx, posy, angle = struct.unpack(">fff", i2c_read_reg(0x50, 0x40, 12))
162 speed_trans, speed_rot = struct.unpack(">ff", i2c_read_reg(0x50, 0x38, 8))
163 current_time = rospy.Time.now()
165 # since all odometry is 6DOF we'll need a quaternion created from yaw
166 odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
168 # first, we'll publish the transform over tf
169 if self.tf_broadcaster is not None:
170 self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
172 # next, we'll publish the odometry message over ROS
174 odom.header.stamp = current_time
175 odom.header.frame_id = "odom"
178 odom.pose.pose.position.x = posx
179 odom.pose.pose.position.y = posy
180 odom.pose.pose.position.z = 0.0
181 odom.pose.pose.orientation.x = odom_quat[0]
182 odom.pose.pose.orientation.y = odom_quat[1]
183 odom.pose.pose.orientation.z = odom_quat[2]
184 odom.pose.pose.orientation.w = odom_quat[3]
185 odom.pose.covariance[0] = 1e-3 # x
186 odom.pose.covariance[7] = 1e-3 # y
187 odom.pose.covariance[14] = 1e6 # z
188 odom.pose.covariance[21] = 1e6 # rotation about X axis
189 odom.pose.covariance[28] = 1e6 # rotation about Y axis
190 odom.pose.covariance[35] = 0.03 # rotation about Z axis
193 odom.child_frame_id = "base_footprint"
194 odom.twist.twist.linear.x = speed_trans
195 odom.twist.twist.linear.y = 0.0
196 odom.twist.twist.angular.z = speed_rot
197 odom.twist.covariance[0] = 1e-3 # x
198 odom.twist.covariance[7] = 1e-3 # y
199 odom.twist.covariance[14] = 1e6 # z
200 odom.twist.covariance[21] = 1e6 # rotation about X axis
201 odom.twist.covariance[28] = 1e6 # rotation about Y axis
202 odom.twist.covariance[35] = 0.03 # rotation about Z axis
204 # publish the message
205 self.pub_odom.publish(odom)
208 def set_speed(self, trans, rot):
209 i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
211 def cmdVelReceived(self, msg):
213 rot = msg.angular.z # rad/s
214 self.set_speed(trans, rot)
216 # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
217 def get_dist_ir(self, num):
219 s = struct.pack("B", num)
229 val = struct.unpack(">H", s)[0]
232 def start_dist_srf(self, num):
234 s = struct.pack("B", num)
238 def read_dist_srf(self, num):
240 s = struct.pack("B", num)
248 return struct.unpack(">H", s)[0]/1000.0
250 def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
252 msg.header.stamp = rospy.Time.now()
253 msg.header.frame_id = frame_id
254 msg.radiation_type = typ
255 msg.field_of_view = fov_deg*pi/180
256 msg.min_range = min_range
257 msg.max_range = max_range
261 def get_dist_left(self):
262 if self.pub_range_left.get_num_connections() > 0:
263 dist = 30.553/(self.get_dist_ir(0x1) - -67.534)
264 self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.04, 0.3, 1)
266 def get_dist_right(self):
267 if self.pub_range_right.get_num_connections() > 0:
268 dist = 17.4/(self.get_dist_ir(0x3) - 69)
269 self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, dist, 0.04, 0.3, 1)
271 def get_dist_forward(self):
272 if self.pub_range_fwd.get_num_connections() > 0:
273 dist = self.read_dist_srf(0x15)
274 self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 40)
275 self.start_dist_srf(0x5) # get next value
277 def get_dist_backward(self):
278 if self.pub_range_bwd.get_num_connections() > 0:
279 dist = self.read_dist_srf(0x17)
280 self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 40)
281 self.start_dist_srf(0x7) # get next value
283 def led_stripe_received(self, msg):
285 self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
286 self.pStripe.update()
289 if __name__ == "__main__":