configuration of odometry covariance via dynamic reconfigure

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 3d1c972ea43a6eaf3c0bef5e4e2ad390f847b8e4..2aa98a24b78d416da53ef8616dde5463eaf31628 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -14,6 +14,8 @@ from nav_msgs.msg import Odometry
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 from sensor_msgs.msg import Imu, Range
 from wild_thumper.msg import LedStripe
+from dynamic_reconfigure.server import Server
+from wild_thumper.cfg import WildThumperConfig
 
 WHEEL_DIST = 0.248
 
@@ -55,6 +57,7 @@ class MoveBase:
                        self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
                else:
                        self.tf_broadcaster = None
+               self.dyn_conf = Server(WildThumperConfig, self.execute_dyn_reconf)
                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)
@@ -79,6 +82,7 @@ class MoveBase:
                rospy.loginfo("Reset Status: 0x%x" % reset_val)
                i = 0
                while not rospy.is_shutdown():
+                       rospy.logdebug("Loop alive")
                        #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
                        self.get_motor_err()
                        self.get_odom()
@@ -95,6 +99,13 @@ class MoveBase:
                                self.cmd_vel = None
                        rate.sleep()
 
+       def execute_dyn_reconf(self, config, level):
+               self.bClipRangeSensor = config["range_sensor_clip"]
+               self.range_sensor_max = config["range_sensor_max"]
+               self.odom_covar_xy = config["odom_covar_xy"]
+               self.odom_covar_angle = config["odom_covar_angle"]
+               return config
+
        def set_motor_handicap(self, front, aft): # percent
                if front > 100: front = 100
                if aft > 100: aft = 100
@@ -203,24 +214,19 @@ 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] = 1e6 # z
-               odom.pose.covariance[21] = 1e6 # rotation about X axis
-               odom.pose.covariance[28] = 1e6 # rotation about Y axis
-               odom.pose.covariance[35] = 0.03 # rotation about Z axis
+               odom.pose.covariance[0] = self.odom_covar_xy # x
+               odom.pose.covariance[7] = self.odom_covar_xy # y
+               odom.pose.covariance[14] = 99999 # z
+               odom.pose.covariance[21] = 99999 # rotation about X axis
+               odom.pose.covariance[28] = 99999 # rotation about Y axis
+               odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
 
                # set the velocity
                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] = 1e6 # z
-               odom.twist.covariance[21] = 1e6 # rotation about X axis
-               odom.twist.covariance[28] = 1e6 # rotation about Y axis
-               odom.twist.covariance[35] = 0.03 # rotation about Z axis
+               odom.twist.covariance = odom.pose.covariance
 
                # publish the message
                self.pub_odom.publish(odom)
@@ -230,7 +236,9 @@ class MoveBase:
                i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
 
        def cmdVelReceived(self, msg):
+               rospy.logdebug("Set new cmd_vel:", msg.linear.x, msg.angular.z)
                self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
+               rospy.logdebug("Set new cmd_vel done")
 
        # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
        def get_dist_ir(self, num):
@@ -258,6 +266,8 @@ class MoveBase:
                return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0
 
        def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
+               if self.bClipRangeSensor and dist > max_range:
+                       dist = max_range
                msg = Range()
                msg.header.stamp = rospy.Time.now()
                msg.header.frame_id = frame_id
@@ -283,13 +293,13 @@ class MoveBase:
        def get_dist_forward(self):
                if self.pub_range_fwd.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x15)
-                       self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 40)
+                       self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
                        self.start_dist_srf(0x5) # get next value
 
        def get_dist_backward(self):
                if self.pub_range_bwd.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x17)
-                       self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 40)
+                       self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
                        self.start_dist_srf(0x7) # get next value
        
        def led_stripe_received(self, msg):