added range sensor messages

[ros_wild_thumper.git] / scripts / move_base.py

diff --git a/scripts/move_base.py b/scripts/move_base.py
index c4da5d02fa239c586ca2ecc499693aea7a58bd38..8f14c6c1f63f203512b0652e918ba9591f454c15 100755 (executable)
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -9,7 +9,7 @@ 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
+from sensor_msgs.msg import Imu, Range
 
 WHEEL_DIST = 0.248
 
@@ -18,9 +18,17 @@ class MoveBase:
                rospy.init_node('wild_thumper_move_base')
                rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
                rospy.Subscriber("imu", Imu, self.imuReceived)
-               #self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
+               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
@@ -36,10 +44,10 @@ class MoveBase:
                        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
@@ -119,7 +127,8 @@ class MoveBase:
                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_footprint", "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()
@@ -136,9 +145,9 @@ class MoveBase:
                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] = 1e-3 # z
-               odom.pose.covariance[21] = 0.1 # rotation about X axis
-               odom.pose.covariance[28] = 0.1 # rotation about Y axis
+               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
@@ -148,9 +157,9 @@ class MoveBase:
                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] = 1e-3 # z
-               odom.twist.covariance[21] = 0.1 # rotation about X axis
-               odom.twist.covariance[28] = 0.1 # rotation about Y axis
+               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
@@ -195,18 +204,37 @@ class MoveBase:
 
                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()