Merge branch 'master' of ssh://vontaene/home/erik_alt/git/ros_wild_thumper
[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 from i2c import *
8 from math import *
9 from geometry_msgs.msg import Twist
10 from nav_msgs.msg import Odometry
11 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
12 from sensor_msgs.msg import Imu, Range
13
14 WHEEL_DIST = 0.248
15
16 class MoveBase:
17         def __init__(self):
18                 rospy.init_node('wild_thumper')
19                 rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
20                 rospy.Subscriber("imu", Imu, self.imuReceived)
21                 enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
22                 if enable_odom_tf:
23                         self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
24                 else:
25                         self.tf_broadcaster = None
26                 self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
27                 self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
28                 self.pub_range_fwd = rospy.Publisher("range_forward", Range, queue_size=16)
29                 self.pub_range_bwd = rospy.Publisher("range_backward", Range, queue_size=16)
30                 self.pub_range_left = rospy.Publisher("range_left", Range, queue_size=16)
31                 self.pub_range_right = rospy.Publisher("range_right", Range, queue_size=16)
32                 self.set_speed(0, 0)
33                 rospy.loginfo("Init done")
34                 i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
35                 self.handicap_last = (-1, -1)
36                 self.run()
37         
38         def run(self):
39                 rate = rospy.Rate(20.0)
40                 reset_val = self.get_reset()
41                 rospy.loginfo("Reset Status: 0x%x" % reset_val)
42                 while not rospy.is_shutdown():
43                         #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
44                         self.get_tle_err()
45                         self.get_odom()
46                         self.get_voltage()
47                         self.get_dist_forward()
48                         self.get_dist_backward()
49                         self.get_dist_left()
50                         self.get_dist_right()
51                         rate.sleep()
52
53         def set_motor_handicap(self, front, aft): # percent
54                 if self.handicap_last != (front, aft):
55                         i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
56                         self.handicap_last = (front, aft)
57
58         def imuReceived(self, msg):
59                 (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
60                 if pitch > 30*pi/180:
61                         val = (100.0/65)*abs(pitch)*180/pi
62                         self.set_motor_handicap(0, int(val))
63                 elif pitch < -30*pi/180:
64                         val = (100.0/65)*abs(pitch)*180/pi
65                         self.set_motor_handicap(int(val), 0)
66                 else:
67                         self.set_motor_handicap(0, 0)
68
69         def get_reset(self):
70                 reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
71
72                 msg = DiagnosticArray()
73                 msg.header.stamp = rospy.Time.now()
74                 stat = DiagnosticStatus()
75                 stat.name = "Reset reason"
76                 stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
77                 stat.message = "0x%02x" % reset
78
79                 stat.values.append(KeyValue("Watchdog Reset Flag", str(bool(reset & (1 << 3)))))
80                 stat.values.append(KeyValue("Brown-out Reset Flag", str(bool(reset & (1 << 2)))))
81                 stat.values.append(KeyValue("External Reset Flag", str(bool(reset & (1 << 1)))))
82                 stat.values.append(KeyValue("Power-on Reset Flag", str(bool(reset & (1 << 0)))))
83
84                 msg.status.append(stat)
85                 self.pub_diag.publish(msg)
86                 return reset
87
88
89         def get_tle_err(self):
90                 err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
91                 
92                 msg = DiagnosticArray()
93                 msg.header.stamp = rospy.Time.now()
94                 stat = DiagnosticStatus()
95                 stat.name = "Motor: Error Status"
96                 stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
97                 stat.message = "0x%02x" % err
98
99                 stat.values.append(KeyValue("aft left", str(bool(err & (1 << 0)))))
100                 stat.values.append(KeyValue("front left", str(bool(err & (1 << 1)))))
101                 stat.values.append(KeyValue("front right", str(bool(err & (1 << 2)))))
102                 stat.values.append(KeyValue("aft right", str(bool(err & (1 << 3)))))
103
104                 msg.status.append(stat)
105                 self.pub_diag.publish(msg)
106         
107         def get_voltage(self):
108                 volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
109
110                 msg = DiagnosticArray()
111                 msg.header.stamp = rospy.Time.now()
112                 stat = DiagnosticStatus()
113                 stat.name = "Voltage"
114                 stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
115                 stat.message = "%.2fV" % volt
116
117                 msg.status.append(stat)
118                 self.pub_diag.publish(msg)
119
120
121         def get_odom(self):
122                 posx, posy, angle = struct.unpack(">fff", i2c_read_reg(0x50, 0x40, 12))
123                 speed_trans, speed_rot = struct.unpack(">ff", i2c_read_reg(0x50, 0x38, 8))
124                 current_time = rospy.Time.now()
125
126                 # since all odometry is 6DOF we'll need a quaternion created from yaw
127                 odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
128
129                 # first, we'll publish the transform over tf
130                 if self.tf_broadcaster is not None:
131                         self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
132
133                 # next, we'll publish the odometry message over ROS
134                 odom = Odometry()
135                 odom.header.stamp = current_time
136                 odom.header.frame_id = "odom"
137
138                 # set the position
139                 odom.pose.pose.position.x = posx
140                 odom.pose.pose.position.y = posy
141                 odom.pose.pose.position.z = 0.0
142                 odom.pose.pose.orientation.x = odom_quat[0]
143                 odom.pose.pose.orientation.y = odom_quat[1]
144                 odom.pose.pose.orientation.z = odom_quat[2]
145                 odom.pose.pose.orientation.w = odom_quat[3]
146                 odom.pose.covariance[0] = 1e-3 # x
147                 odom.pose.covariance[7] = 1e-3 # y
148                 odom.pose.covariance[14] = 1e6 # z
149                 odom.pose.covariance[21] = 1e6 # rotation about X axis
150                 odom.pose.covariance[28] = 1e6 # rotation about Y axis
151                 odom.pose.covariance[35] = 0.1 # rotation about Z axis
152
153                 # set the velocity
154                 odom.child_frame_id = "base_footprint"
155                 odom.twist.twist.linear.x = speed_trans
156                 odom.twist.twist.linear.y = 0.0
157                 odom.twist.twist.angular.z = speed_rot
158                 odom.twist.covariance[0] = 1e-3 # x
159                 odom.twist.covariance[7] = 1e-3 # y
160                 odom.twist.covariance[14] = 1e6 # z
161                 odom.twist.covariance[21] = 1e6 # rotation about X axis
162                 odom.twist.covariance[28] = 1e6 # rotation about Y axis
163                 odom.twist.covariance[35] = 0.1 # rotation about Z axis
164
165                 # publish the message
166                 self.pub_odom.publish(odom)
167
168         
169         def set_speed(self, trans, rot):
170                 i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
171
172         def cmdVelReceived(self, msg):
173                 trans = msg.linear.x
174                 rot = msg.angular.z # rad/s
175                 self.set_speed(trans, rot)
176
177         # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
178         def get_dist_ir(self, num):
179                 dev = i2c(0x52)
180                 s = struct.pack("B", num)
181                 dev.write(s)
182                 dev.close()
183
184                 sleep(2e-6)
185
186                 dev = i2c(0x52)
187                 s = dev.read(2)
188                 dev.close()
189
190                 val = struct.unpack(">H", s)[0]
191                 return val
192         
193         def get_dist_srf(self, num):
194                 dev = i2c(0x52)
195                 s = struct.pack("B", num)
196                 dev.write(s)
197                 dev.close()
198
199                 sleep(50e-3)
200
201                 dev = i2c(0x52)
202                 s = dev.read(2)
203                 dev.close()
204
205                 return struct.unpack(">H", s)[0]/1000.0
206
207         def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
208                 msg = Range()
209                 msg.header.stamp = rospy.Time.now()
210                 msg.header.frame_id = frame_id
211                 msg.radiation_type = typ
212                 msg.field_of_view = fov_deg*pi/180
213                 msg.min_range = min_range
214                 msg.max_range = max_range
215                 msg.range = dist
216                 pub.publish(msg)
217
218         def get_dist_left(self):
219                 if self.pub_range_left.get_num_connections() > 0:
220                         dist = 30.553/(self.get_dist_ir(0x1) - -67.534)
221                         self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.04, 0.3, 5)
222
223         def get_dist_right(self):
224                 if self.pub_range_right.get_num_connections() > 0:
225                         dist = 17.4/(self.get_dist_ir(0x3) - 69)
226                         self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, dist, 0.04, 0.3, 5)
227
228         def get_dist_forward(self):
229                 if self.pub_range_fwd.get_num_connections() > 0:
230                         dist = self.get_dist_srf(0x5)
231                         self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 60)
232
233         def get_dist_backward(self):
234                 if self.pub_range_bwd.get_num_connections() > 0:
235                         dist = self.get_dist_srf(0x7)
236                         self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 60)
237                 
238
239 if __name__ == "__main__":
240         MoveBase()