# -*- coding: iso-8859-15 -*-
import rospy
+import tf
import struct
-from i2c import i2c
+from i2c import *
from math import *
from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
+from sensor_msgs.msg import Imu
WHEEL_DIST = 0.248
def __init__(self):
rospy.init_node('wild_thumper_move_base')
rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
+ rospy.Subscriber("imu", Imu, self.imuReceived)
+ enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
+ if enable_odom_tf:
+ self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
+ else:
+ self.tf_broadcaster = None
+ self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
+ self.pub_diag = rospy.Publisher("diagnostics", DiagnosticArray, queue_size=16)
self.set_speed(0, 0)
rospy.loginfo("Init done")
+ i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
+ self.handicap_last = (-1, -1)
self.run()
def run(self):
- rate = rospy.Rate(10.0)
+ rate = rospy.Rate(20.0)
+ reset_val = self.get_reset()
+ rospy.loginfo("Reset Status: 0x%x" % reset_val)
while not rospy.is_shutdown():
+ #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
+ self.get_tle_err()
+ self.get_odom()
+ self.get_voltage()
+ #self.get_dist_forward()
+ #self.get_dist_backward()
+ #self.get_dist_left()
+ #self.get_dist_right()
rate.sleep()
- def set_speed(self, left, right):
- if left > 255: left=255
- elif left < -255: left=-255
- if right > 255: right=255
- elif right < -255: right=-255
+ def set_motor_handicap(self, front, aft): # percent
+ if self.handicap_last != (front, aft):
+ i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
+ self.handicap_last = (front, aft)
- dev = i2c(0x56)
- s = struct.pack(">Bhh", 0x1, left, right)
- dev.write(s)
- dev.close()
+ def imuReceived(self, msg):
+ (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
+ if pitch > 30*pi/180:
+ val = (100.0/65)*abs(pitch)*180/pi
+ self.set_motor_handicap(0, int(val))
+ elif pitch < -30*pi/180:
+ val = (100.0/65)*abs(pitch)*180/pi
+ self.set_motor_handicap(int(val), 0)
+ else:
+ self.set_motor_handicap(0, 0)
+
+ def get_reset(self):
+ reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
+
+ msg = DiagnosticArray()
+ msg.header.stamp = rospy.Time.now()
+ stat = DiagnosticStatus()
+ stat.name = "Reset reason"
+ stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
+ stat.message = "0x%02x" % reset
+
+ stat.values.append(KeyValue("Watchdog Reset Flag", str(bool(reset & (1 << 3)))))
+ stat.values.append(KeyValue("Brown-out Reset Flag", str(bool(reset & (1 << 2)))))
+ stat.values.append(KeyValue("External Reset Flag", str(bool(reset & (1 << 1)))))
+ stat.values.append(KeyValue("Power-on Reset Flag", str(bool(reset & (1 << 0)))))
+
+ msg.status.append(stat)
+ self.pub_diag.publish(msg)
+ return reset
+
+
+ def get_tle_err(self):
+ err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
+
+ msg = DiagnosticArray()
+ msg.header.stamp = rospy.Time.now()
+ stat = DiagnosticStatus()
+ stat.name = "Motor: Error Status"
+ stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
+ stat.message = "0x%02x" % err
+
+ stat.values.append(KeyValue("aft left", str(bool(err & (1 << 0)))))
+ stat.values.append(KeyValue("front left", str(bool(err & (1 << 1)))))
+ stat.values.append(KeyValue("front right", str(bool(err & (1 << 2)))))
+ stat.values.append(KeyValue("aft right", str(bool(err & (1 << 3)))))
+
+ msg.status.append(stat)
+ self.pub_diag.publish(msg)
+
+ def get_voltage(self):
+ volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
+
+ msg = DiagnosticArray()
+ msg.header.stamp = rospy.Time.now()
+ stat = DiagnosticStatus()
+ stat.name = "Voltage"
+ stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
+ stat.message = "%.2fV" % volt
+
+ msg.status.append(stat)
+ self.pub_diag.publish(msg)
+
+
+ def get_odom(self):
+ posx, posy, angle = struct.unpack(">fff", i2c_read_reg(0x50, 0x40, 12))
+ speed_trans, speed_rot = struct.unpack(">ff", i2c_read_reg(0x50, 0x38, 8))
+ current_time = rospy.Time.now()
+
+ # since all odometry is 6DOF we'll need a quaternion created from yaw
+ odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
+
+ # first, we'll publish the transform over tf
+ if self.tf_broadcaster is not None:
+ self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
+
+ # next, we'll publish the odometry message over ROS
+ odom = Odometry()
+ odom.header.stamp = current_time
+ odom.header.frame_id = "/odom"
+
+ # set the position
+ odom.pose.pose.position.x = posx
+ odom.pose.pose.position.y = posy
+ odom.pose.pose.position.z = 0.0
+ odom.pose.pose.orientation.x = odom_quat[0]
+ odom.pose.pose.orientation.y = odom_quat[1]
+ odom.pose.pose.orientation.z = odom_quat[2]
+ odom.pose.pose.orientation.w = odom_quat[3]
+ odom.pose.covariance[0] = 1e-3 # x
+ odom.pose.covariance[7] = 1e-3 # y
+ odom.pose.covariance[14] = 1e6 # z
+ odom.pose.covariance[21] = 1e6 # rotation about X axis
+ odom.pose.covariance[28] = 1e6 # rotation about Y axis
+ odom.pose.covariance[35] = 0.1 # rotation about Z axis
+
+ # set the velocity
+ odom.child_frame_id = "base_footprint"
+ odom.twist.twist.linear.x = speed_trans
+ odom.twist.twist.linear.y = 0.0
+ odom.twist.twist.angular.z = speed_rot
+ odom.twist.covariance[0] = 1e-3 # x
+ odom.twist.covariance[7] = 1e-3 # y
+ odom.twist.covariance[14] = 1e6 # z
+ odom.twist.covariance[21] = 1e6 # rotation about X axis
+ odom.twist.covariance[28] = 1e6 # rotation about Y axis
+ odom.twist.covariance[35] = 0.1 # rotation about Z axis
+
+ # publish the message
+ self.pub_odom.publish(odom)
+
+
+ def set_speed(self, trans, rot):
+ i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
def cmdVelReceived(self, msg):
trans = msg.linear.x
rot = msg.angular.z # rad/s
+ self.set_speed(trans, rot)
+
+ # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
+ def get_dist_ir(self, num):
+ dev = i2c(0x52)
+ s = struct.pack("B", num)
+ dev.write(s)
+ dev.close()
+
+ sleep(2e-6)
+
+ dev = i2c(0x52)
+ s = dev.read(2)
+ dev.close()
+
+ val = struct.unpack(">H", s)[0]
+ return 15221/(val - -276.42)/100;
+
+ def get_dist_srf(self, num):
+ dev = i2c(0x52)
+ s = struct.pack("B", num)
+ dev.write(s)
+ dev.close()
+
+ sleep(50e-3)
+
+ dev = i2c(0x52)
+ s = dev.read(2)
+ dev.close()
+
+ return struct.unpack(">H", s)[0]/1000.0
+
+ def get_dist_left(self):
+ dist = self.get_dist_ir(0x1)
+
+ def get_dist_right(self):
+ dist = self.get_dist_ir(0x3)
+
+ def get_dist_forward(self):
+ dist = self.get_dist_srf(0x5)
- right = rot*pi*WHEEL_DIST + trans
- left = trans*2-right
- self.set_speed(left, right)
+ def get_dist_backward(self):
+ dist = self.get_dist_srf(0x7)
if __name__ == "__main__":
projects / ros_wild_thumper.git / blobdiff