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, Range
WHEEL_DIST = 0.248
def __init__(self):
rospy.init_node('wild_thumper_move_base')
rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
- self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
+ 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.pub_range_fwd = rospy.Publisher("range_forward", Range, queue_size=16)
+ self.pub_range_bwd = rospy.Publisher("range_backward", Range, queue_size=16)
+ self.pub_range_left = rospy.Publisher("range_left", Range, queue_size=16)
+ self.pub_range_right = rospy.Publisher("range_right", Range, 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(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_dist_forward()
- #self.get_dist_backward()
- #self.get_dist_left()
- #self.get_dist_right()
+ 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_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)
+
+ 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, 0x94, 1))[0]
+ 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.OK if not err else DiagnosticStatus.ERROR
- stat.message = "OK" if not err else "Error"
+ 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)))))
- stat.values.append(KeyValue("Motor 1", str(bool(err & (1 << 0)))))
- stat.values.append(KeyValue("Motor 2", str(bool(err & (1 << 1)))))
- stat.values.append(KeyValue("Motor 3", str(bool(err & (1 << 2)))))
- stat.values.append(KeyValue("Motor 4", 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)
odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
# first, we'll publish the transform over tf
- self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_link", "odom")
+ 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.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_link"
+ 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)
dev.close()
val = struct.unpack(">H", s)[0]
- return 15221/(val - -276.42)/100;
+ return val
def get_dist_srf(self, num):
dev = i2c(0x52)
return struct.unpack(">H", s)[0]/1000.0
+ def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
+ msg = Range()
+ msg.header.stamp = rospy.Time.now()
+ msg.header.frame_id = frame_id
+ msg.radiation_type = typ
+ msg.field_of_view = fov_deg*pi/180
+ msg.min_range = min_range
+ msg.max_range = max_range
+ msg.range = dist
+ pub.publish(msg)
+
def get_dist_left(self):
- dist = self.get_dist_ir(0x1)
+ if self.pub_range_left.get_num_connections() > 0:
+ dist = 30.553/(self.get_dist_ir(0x1) - -67.534)
+ self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.04, 0.3, 5)
def get_dist_right(self):
- dist = self.get_dist_ir(0x3)
+ if self.pub_range_right.get_num_connections() > 0:
+ dist = 17.4/(self.get_dist_ir(0x3) - 69)
+ self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, dist, 0.04, 0.3, 5)
def get_dist_forward(self):
- dist = self.get_dist_srf(0x5)
+ if self.pub_range_fwd.get_num_connections() > 0:
+ dist = self.get_dist_srf(0x5)
+ self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 60)
def get_dist_backward(self):
- dist = self.get_dist_srf(0x7)
-
+ if self.pub_range_bwd.get_num_connections() > 0:
+ dist = self.get_dist_srf(0x7)
+ self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 60)
+
if __name__ == "__main__":
MoveBase()
projects / ros_wild_thumper.git / blobdiff