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
+from sensor_msgs.msg import Imu, Range
WHEEL_DIST = 0.248
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.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()
+ 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
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 = self.get_dist_ir(0x1)
+ self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.1, 0.8, 5)
def get_dist_right(self):
- dist = self.get_dist_ir(0x3)
+ if self.pub_range_right.get_num_connections() > 0:
+ dist = self.get_dist_ir(0x3)
+ self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, dist, 0.1, 0.8, 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()