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)
- self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
+ rospy.Subscriber("imu", Imu, self.imuReceived)
+ #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.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_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")
+ #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] = 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[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] = 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[35] = 0.1 # rotation about Z axis
# publish the message
self.pub_odom.publish(odom)
projects / ros_wild_thumper.git / blobdiff