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 thread
   8 import prctl
   9 import spidev
  10 from time import sleep
  11 from i2c import i2c, i2c_write_reg, i2c_read_reg
  12 from math import *
  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
  20
  21 WHEEL_DIST = 0.248
  22 BATTERY_CAPACITY_FULL = 2.750 # Ah, NiMH=2.750, LiFePO4=3.100
  23 UPDATE_RATE = 20.0
  24
  25 class WTBase:
  26         def __init__(self):
  27                 rospy.init_node('wild_thumper')
  28                 prctl.set_name("wild_thumper")
  29                 enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
  30                 if enable_odom_tf:
  31                         self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
  32                 else:
  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)
  41                 self.cmd_vel = None
  42                 self.cur_vel = (0, 0)
  43                 self.bMotorManual = False
  44                 self.set_speed(0, 0)
  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)
  50                 self.bDocked = False
  51                 self.bDocked_last = False
  52                 self.battery_capacity = BATTERY_CAPACITY_FULL*3600 # As
  53                 rospy.loginfo("Init done")
  54                 self.run()
  55
  56         def run(self):
  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)
  61                 sonar_count = 0
  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
  67                         self.get_motor_err()
  68                         self.get_odom()
  69                         self.get_power()
  70
  71                         if sonar_count == 0:
  72                                 self.get_dist_forward_left()
  73                                 self.update_dist_backward()
  74                                 sonar_count+=1
  75                         elif sonar_count == 1:
  76                                 self.get_dist_backward()
  77                                 self.update_dist_forward_right()
  78                                 sonar_count+=1
  79                         elif sonar_count == 2:
  80                                 self.get_dist_forward_right()
  81                                 self.update_dist_forward_left()
  82                                 sonar_count=0
  83
  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
  87                                 self.cmd_vel = None
  88
  89                         self.check_docked()
  90                         rate.sleep()
  91
  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"]
 102
 103                 return config
 104
 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")
 121
 122         def get_reset(self):
 123                 reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
 124
 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
 131
 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)))
 144
 145                 msg.status.append(stat)
 146                 self.pub_diag.publish(msg)
 147                 return reset
 148
 149
 150         def get_motor_err(self):
 151                 err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
 152
 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
 159
 160                 # Diag
 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)))))
 165                 # Stall
 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)))))
 170
 171                 msg.status.append(stat)
 172                 self.pub_diag.publish(msg)
 173
 174         def get_power(self):
 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
 177
 178                 msg = DiagnosticArray()
 179                 msg.header.stamp = rospy.Time.now()
 180                 stat = DiagnosticStatus()
 181                 stat.name = "Power"
 182                 stat.level = DiagnosticStatus.ERROR if volt < 7 or current > 5 else DiagnosticStatus.OK
 183                 stat.message = "%.2fV, %.2fA" % (volt, current)
 184
 185                 msg.status.append(stat)
 186                 self.pub_diag.publish(msg)
 187
 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()
 191
 192                 self.bDocked = volt > 10.1
 193                 self.update_capacity(volt, current)
 194
 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)
 209
 210         def update_capacity(self, volt, current):
 211                 if self.bDocked:
 212                         self.battery_capacity = BATTERY_CAPACITY_FULL*3600
 213                 else:
 214                         self.battery_capacity -= current/UPDATE_RATE
 215
 216         def get_odom(self):
 217                 speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
 218                 current_time = rospy.Time.now()
 219
 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)
 222
 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")
 226
 227                 # next, we'll publish the odometry message over ROS
 228                 odom = Odometry()
 229                 odom.header.stamp = current_time
 230                 odom.header.frame_id = "odom"
 231
 232                 # set the position
 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
 246
 247                 # set the velocity
 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
 254
 255                 # publish the message
 256                 self.pub_odom.publish(odom)
 257
 258
 259         def set_speed(self, trans, rot):
 260                 i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
 261
 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")
 267
 268         # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
 269         def get_dist_ir(self, num):
 270                 dev = i2c(0x52)
 271                 s = struct.pack("B", num)
 272                 dev.write(s)
 273                 dev.close()
 274
 275                 sleep(2e-6)
 276
 277                 dev = i2c(0x52)
 278                 s = dev.read(2)
 279                 dev.close()
 280
 281                 val = struct.unpack(">H", s)[0]
 282                 return val
 283
 284         def start_dist_srf(self, num):
 285                 dev = i2c(0x52)
 286                 s = struct.pack("B", num)
 287                 dev.write(s)
 288                 dev.close()
 289
 290         def read_dist_srf(self, num):
 291                 return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0
 292
 293         def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
 294                 if self.bClipRangeSensor and dist > max_range:
 295                         dist = max_range
 296                 msg = 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
 303                 msg.range = dist
 304                 pub.publish(msg)
 305
 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)
 310
 311         def update_dist_forward_left(self):
 312                 if self.pub_range_fwd_left.get_num_connections() > 0:
 313                         self.start_dist_srf(0x5)
 314
 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)
 319
 320         def update_dist_backward(self):
 321                 if self.pub_range_bwd.get_num_connections() > 0:
 322                         self.start_dist_srf(0x7)
 323
 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)
 328
 329         def update_dist_forward_right(self):
 330                 if self.pub_range_fwd_right.get_num_connections() > 0:
 331                         self.start_dist_srf(0xb)
 332
 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")
 339                         else:
 340                                 rospy.loginfo("Undocking event..redocking")
 341                                 thread.start_new_thread(self.redock, ())
 342
 343                 self.bDocked_last = self.bDocked
 344
 345         def redock(self):
 346                 self.cmd_vel = (-0.1, 0)
 347                 for i in range(100):
 348                         if self.bDocked:
 349                                 break
 350                         sleep(0.01)
 351                 self.cmd_vel = (0, 0)
 352                 if self.bDocked:
 353                         rospy.loginfo("Redocking done")
 354                 else:
 355                         rospy.logerr("Redocking failed")
 356
 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, "")
 361
 362 if __name__ == "__main__":
 363         WTBase()