added diagnostic msg

[ros_wild_thumper.git] / scripts / move_base.py

diff --git a/scripts/move_base.py b/scripts/move_base.py
index 1188e2c8cd0b8abda78dab2ce154a1fd05c26b05..0f0bc190fcd7030a6cbdf1b9824a93f309e7e689 100755 (executable)
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -2,10 +2,13 @@
 # -*- 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
 
 WHEEL_DIST = 0.248
 
@@ -13,33 +16,128 @@ class MoveBase:
        def __init__(self):
                rospy.init_node('wild_thumper_move_base')
                rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
+               self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
+               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.run()
        
        def run(self):
-               rate = rospy.Rate(10.0)
+               rate = rospy.Rate(20.0)
                while not rospy.is_shutdown():
+                       self.get_tle_err()
+                       #self.get_odom()
+                       #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 get_tle_err(self):
+               err = struct.unpack(">B", i2c_read_reg(0x50, 0x94, 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"
 
-               dev = i2c(0x56)
-               s = struct.pack(">Bhh", 0x1, left, right)
-               dev.write(s)
-               dev.close()
+               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_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
+               self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_link", "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]
+
+               # set the velocity
+               odom.child_frame_id = "base_link"
+               odom.twist.twist.linear.x = speed_trans
+               odom.twist.twist.linear.y = 0.0
+               odom.twist.twist.angular.z = speed_rot
+
+               # 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__":