2 # -*- coding: iso-8859-15 -*-
10 from i2c import i2c, i2c_write_reg, i2c_read_reg
12 from geometry_msgs.msg import Twist
13 from nav_msgs.msg import Odometry
14 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
15 from dynamic_reconfigure.server import Server
16 from sensor_msgs.msg import Imu, Range, BatteryState
17 from wild_thumper.msg import LedStripe
18 from wild_thumper.cfg import WildThumperConfig
23 def __init__(self, bus, device, num_leds):
24 self.spi = spidev.SpiDev()
25 self.spi.open(bus, device)
27 self.spi.max_speed_hz=int(2e6)
28 self.num_leds = num_leds
30 self.l = [(0, 0, 0)] * num_leds
33 def set(self, i, red=0, green=0, blue=0):
34 if red > 127 or green > 127 or blue > 127 or red < 0 or green < 0 or blue < 0:
35 raise Exception("Bad RGB Value")
36 self.l[i] = (red, green, blue)
39 self.spi.writebytes([0x0 for i in range((self.num_leds+31)/32)])
43 for i in range(self.num_leds):
44 red, green, blue = self.l[i]
45 l.append(0x80 | green)
48 self.spi.writebytes(l)
53 rospy.init_node('wild_thumper')
54 prctl.set_name("wild_thumper")
55 enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
57 self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
59 self.tf_broadcaster = None
60 self.dyn_conf = Server(WildThumperConfig, self.execute_dyn_reconf)
61 self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
62 self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
63 self.pub_range_fwd_left = rospy.Publisher("range_forward_left", Range, queue_size=16)
64 self.pub_range_fwd_right = rospy.Publisher("range_forward_right", Range, queue_size=16)
65 self.pub_range_bwd = rospy.Publisher("range_backward", Range, queue_size=16)
66 self.pub_range_left = rospy.Publisher("range_left", Range, queue_size=16)
67 self.pub_range_right = rospy.Publisher("range_right", Range, queue_size=16)
68 self.pub_battery = rospy.Publisher("battery", BatteryState, queue_size=16)
71 self.bMotorManual = False
73 self.volt_last_warn = rospy.Time.now()
74 rospy.loginfo("Init done")
75 i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
76 self.pStripe = LPD8806(1, 0, 12)
77 rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
78 rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
79 rospy.Subscriber("imu", Imu, self.imuReceived)
83 rate = rospy.Rate(20.0)
84 sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
85 reset_val = self.get_reset()
86 rospy.loginfo("Reset Status: 0x%x" % reset_val)
89 while not rospy.is_shutdown():
90 rospy.logdebug("Loop alive")
91 #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
100 self.get_dist_right()
104 self.get_dist_forward_left()
105 self.update_dist_backward()
107 elif sonar_count == 1:
108 self.get_dist_backward()
109 self.update_dist_forward_right()
111 elif sonar_count == 2:
112 self.get_dist_forward_right()
113 self.update_dist_forward_left()
116 if self.cmd_vel != None:
117 self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
118 self.cur_vel = self.cmd_vel
122 def execute_dyn_reconf(self, config, level):
123 self.bClipRangeSensor = config["range_sensor_clip"]
124 self.range_sensor_max = config["range_sensor_max"]
125 self.odom_covar_xy = config["odom_covar_xy"]
126 self.odom_covar_angle = config["odom_covar_angle"]
127 self.rollover_protect = config["rollover_protect"]
128 self.rollover_protect_limit = config["rollover_protect_limit"]
129 self.rollover_protect_pwm = config["rollover_protect_pwm"]
133 def imuReceived(self, msg):
134 if self.rollover_protect and any(self.cur_vel):
135 (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
136 if pitch > self.rollover_protect_limit*pi/180:
137 self.bMotorManual = True
138 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, self.rollover_protect_pwm, 0, self.rollover_protect_pwm))
139 rospy.logwarn("Running forward rollver protection")
140 elif pitch < -self.rollover_protect_limit*pi/180:
141 self.bMotorManual = True
142 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", -self.rollover_protect_pwm, 0, -self.rollover_protect_pwm, 0))
143 rospy.logwarn("Running backward rollver protection")
144 elif self.bMotorManual:
145 i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0))
146 self.bMotorManual = False
147 self.cmd_vel = (0, 0)
148 rospy.logwarn("Rollver protection done")
151 reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
153 msg = DiagnosticArray()
154 msg.header.stamp = rospy.Time.now()
155 stat = DiagnosticStatus()
156 stat.name = "Reset reason"
157 stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
158 stat.message = "0x%02x" % reset
160 wdrf = bool(reset & (1 << 3))
161 if wdrf: rospy.loginfo("Watchdog Reset")
162 borf = bool(reset & (1 << 2))
163 if borf: rospy.loginfo("Brown-out Reset Flag")
164 extrf = bool(reset & (1 << 1))
165 if extrf: rospy.loginfo("External Reset Flag")
166 porf = bool(reset & (1 << 0))
167 if porf: rospy.loginfo("Power-on Reset Flag")
168 stat.values.append(KeyValue("Watchdog Reset Flag", str(wdrf)))
169 stat.values.append(KeyValue("Brown-out Reset Flag", str(borf)))
170 stat.values.append(KeyValue("External Reset Flag", str(extrf)))
171 stat.values.append(KeyValue("Power-on Reset Flag", str(porf)))
173 msg.status.append(stat)
174 self.pub_diag.publish(msg)
178 def get_motor_err(self):
179 err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
181 msg = DiagnosticArray()
182 msg.header.stamp = rospy.Time.now()
183 stat = DiagnosticStatus()
184 stat.name = "Motor: Error Status"
185 stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
186 stat.message = "0x%02x" % err
189 stat.values.append(KeyValue("aft left diag", str(bool(err & (1 << 0)))))
190 stat.values.append(KeyValue("front left diag", str(bool(err & (1 << 1)))))
191 stat.values.append(KeyValue("aft right diag", str(bool(err & (1 << 2)))))
192 stat.values.append(KeyValue("front right diag", str(bool(err & (1 << 3)))))
194 stat.values.append(KeyValue("aft left stall", str(bool(err & (1 << 4)))))
195 stat.values.append(KeyValue("front left stall", str(bool(err & (1 << 5)))))
196 stat.values.append(KeyValue("aft right stall", str(bool(err & (1 << 6)))))
197 stat.values.append(KeyValue("front right stall", str(bool(err & (1 << 7)))))
199 msg.status.append(stat)
200 self.pub_diag.publish(msg)
202 def get_voltage(self):
203 volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
205 msg = DiagnosticArray()
206 msg.header.stamp = rospy.Time.now()
207 stat = DiagnosticStatus()
208 stat.name = "Voltage"
209 stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
210 stat.message = "%.2fV" % volt
212 msg.status.append(stat)
213 self.pub_diag.publish(msg)
215 if self.pub_battery.get_num_connections() > 0:
216 batmsg = BatteryState()
217 batmsg.header.stamp = rospy.Time.now()
218 batmsg.voltage = volt
219 batmsg.current = float('nan')
220 batmsg.charge = float('nan')
221 batmsg.capacity = float('nan')
222 batmsg.design_capacity = 5.0
223 batmsg.percentage = float('nan')
224 batmsg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING
225 batmsg.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_UNKNOWN
226 batmsg.power_supply_technology = BatteryState.POWER_SUPPLY_TECHNOLOGY_NIMH
227 self.pub_battery.publish(batmsg)
229 if volt < 7 and (rospy.Time.now() - self.volt_last_warn).to_sec() > 10:
230 rospy.logerr("Voltage critical: %.2fV" % (volt))
231 self.volt_last_warn = rospy.Time.now()
235 speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
236 current_time = rospy.Time.now()
238 # since all odometry is 6DOF we'll need a quaternion created from yaw
239 odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
241 # first, we'll publish the transform over tf
242 if self.tf_broadcaster is not None:
243 self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
245 # next, we'll publish the odometry message over ROS
247 odom.header.stamp = current_time
248 odom.header.frame_id = "odom"
251 odom.pose.pose.position.x = posx
252 odom.pose.pose.position.y = posy
253 odom.pose.pose.position.z = 0.0
254 odom.pose.pose.orientation.x = odom_quat[0]
255 odom.pose.pose.orientation.y = odom_quat[1]
256 odom.pose.pose.orientation.z = odom_quat[2]
257 odom.pose.pose.orientation.w = odom_quat[3]
258 odom.pose.covariance[0] = self.odom_covar_xy # x
259 odom.pose.covariance[7] = self.odom_covar_xy # y
260 odom.pose.covariance[14] = self.odom_covar_xy # z
261 odom.pose.covariance[21] = self.odom_covar_angle # rotation about X axis
262 odom.pose.covariance[28] = self.odom_covar_angle # rotation about Y axis
263 odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
266 odom.child_frame_id = "base_footprint"
267 odom.twist.twist.linear.x = speed_trans
268 odom.twist.twist.linear.y = 0.0
269 odom.twist.twist.angular.z = speed_rot
270 odom.twist.covariance = odom.pose.covariance
272 # publish the message
273 self.pub_odom.publish(odom)
276 def set_speed(self, trans, rot):
277 i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
279 def cmdVelReceived(self, msg):
280 if not self.bMotorManual:
281 rospy.logdebug("Set new cmd_vel: %.2f %.2f", msg.linear.x, msg.angular.z)
282 self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
283 rospy.logdebug("Set new cmd_vel done")
285 # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
286 def get_dist_ir(self, num):
288 s = struct.pack("B", num)
298 val = struct.unpack(">H", s)[0]
301 def start_dist_srf(self, num):
303 s = struct.pack("B", num)
307 def read_dist_srf(self, num):
308 return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0
310 def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
311 if self.bClipRangeSensor and dist > max_range:
314 msg.header.stamp = rospy.Time.now()
315 msg.header.frame_id = frame_id
316 msg.radiation_type = typ
317 msg.field_of_view = fov_deg*pi/180
318 msg.min_range = min_range
319 msg.max_range = max_range
323 def get_dist_left(self):
324 if self.pub_range_left.get_num_connections() > 0:
325 dist = self.get_dist_ir(0x1)
327 self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, 30.553/(dist - -67.534), 0.04, 0.3, 1)
329 def get_dist_right(self):
330 if self.pub_range_right.get_num_connections() > 0:
331 dist = self.get_dist_ir(0x3)
333 self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, 17.4/(dist - 69), 0.04, 0.3, 1)
335 def get_dist_forward_left(self):
336 if self.pub_range_fwd_left.get_num_connections() > 0:
337 dist = self.read_dist_srf(0x15)
338 self.send_range(self.pub_range_fwd_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
340 def update_dist_forward_left(self):
341 if self.pub_range_fwd_left.get_num_connections() > 0:
342 self.start_dist_srf(0x5)
344 def get_dist_backward(self):
345 if self.pub_range_bwd.get_num_connections() > 0:
346 dist = self.read_dist_srf(0x17)
347 self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
349 def update_dist_backward(self):
350 if self.pub_range_bwd.get_num_connections() > 0:
351 self.start_dist_srf(0x7)
353 def get_dist_forward_right(self):
354 if self.pub_range_fwd_right.get_num_connections() > 0:
355 dist = self.read_dist_srf(0x19)
356 self.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
358 def update_dist_forward_right(self):
359 if self.pub_range_fwd_right.get_num_connections() > 0:
360 self.start_dist_srf(0xb)
362 def led_stripe_received(self, msg):
364 self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
365 self.pStripe.update()
368 if __name__ == "__main__":