added robot_pose_ekf

[ros_wild_thumper.git] / scripts / move_base.py

diff --git a/scripts/move_base.py b/scripts/move_base.py
index 127bccacb10a43ea69e56d57d5ca88af9b9405ed..c4da5d02fa239c586ca2ecc499693aea7a58bd38 100755 (executable)
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -9,6 +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
 
 WHEEL_DIST = 0.248
 
@@ -16,12 +17,14 @@ 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()
+               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):
@@ -39,6 +42,22 @@ class MoveBase:
                        #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]
 
@@ -69,10 +88,10 @@ class MoveBase:
                stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
                stat.message = "0x%02x" % err
 
-               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)))))
+               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)))))
 
                msg.status.append(stat)
                self.pub_diag.publish(msg)
@@ -84,7 +103,7 @@ class MoveBase:
                msg.header.stamp = rospy.Time.now()
                stat = DiagnosticStatus()
                stat.name = "Voltage"
-               stat.level = DiagnosticStatus.ERROR if volt < 6 else DiagnosticStatus.OK
+               stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
                stat.message = "%.2fV" % volt
 
                msg.status.append(stat)
@@ -100,7 +119,7 @@ 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_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()
@@ -115,12 +134,24 @@ class MoveBase:
                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)