import rospy
import tf
import struct
-from i2c import *
+import prctl
+import spidev
+from time import sleep
+from i2c import i2c, i2c_write_reg, i2c_read_reg
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, Range
+from wild_thumper.msg import LedStripe
WHEEL_DIST = 0.248
+class LPD8806:
+ def __init__(self, bus, device, num_leds):
+ self.spi = spidev.SpiDev()
+ self.spi.open(bus, device)
+ self.spi.mode=0b00
+ self.spi.max_speed_hz=int(2e6)
+ self.num_leds = num_leds
+ self.latch()
+ self.l = [(0, 0, 0)] * num_leds
+ self.update()
+
+ def set(self, i, red=0, green=0, blue=0):
+ if red > 127 or green > 127 or blue >> 127 or red < 0 or green < 0 or blue < 0:
+ raise Exception("Bad RGB Value")
+ self.l[i] = (red, green, blue)
+
+ def latch(self):
+ self.spi.writebytes([0x0 for i in range((self.num_leds+31)/32)])
+
+ def update(self):
+ l = []
+ for i in range(self.num_leds):
+ red, green, blue = self.l[i]
+ l.append(0x80 | green)
+ l.append(0x80 | red)
+ l.append(0x80 | blue)
+ self.spi.writebytes(l)
+ self.latch()
+
class MoveBase:
def __init__(self):
rospy.init_node('wild_thumper')
- rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
- rospy.Subscriber("imu", Imu, self.imuReceived)
+ prctl.set_name("wild_thumper")
enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
if enable_odom_tf:
self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
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.cmd_vel = None
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.pStripe = LPD8806(1, 0, 12)
+ rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
+ #rospy.Subscriber("imu", Imu, self.imuReceived)
+ rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
self.run()
def run(self):
rate = rospy.Rate(20.0)
+ sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
reset_val = self.get_reset()
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_tle_err()
+ self.get_motor_err()
self.get_odom()
self.get_voltage()
- self.get_dist_forward()
- self.get_dist_backward()
- self.get_dist_left()
- self.get_dist_right()
+ if i % 2:
+ self.get_dist_forward()
+ self.get_dist_left()
+ else:
+ self.get_dist_backward()
+ self.get_dist_right()
+ i+=1
+ if self.cmd_vel != None:
+ self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
+ self.cmd_vel = None
rate.sleep()
def set_motor_handicap(self, front, aft): # percent
+ if front > 100: front = 100
+ if aft > 100: aft = 100
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
+ val = (100.0/60)*abs(pitch)*180/pi
self.set_motor_handicap(int(val), 0)
+ elif pitch < -30*pi/180:
+ val = (100.0/60)*abs(pitch)*180/pi
+ self.set_motor_handicap(0, int(val))
else:
self.set_motor_handicap(0, 0)
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)))))
+ wdrf = bool(reset & (1 << 3))
+ if wdrf: rospy.loginfo("Watchdog Reset")
+ borf = bool(reset & (1 << 2))
+ if borf: rospy.loginfo("Brown-out Reset Flag")
+ extrf = bool(reset & (1 << 1))
+ if extrf: rospy.loginfo("External Reset Flag")
+ porf = bool(reset & (1 << 0))
+ if porf: rospy.loginfo("Power-on Reset Flag")
+ stat.values.append(KeyValue("Watchdog Reset Flag", str(wdrf)))
+ stat.values.append(KeyValue("Brown-out Reset Flag", str(borf)))
+ stat.values.append(KeyValue("External Reset Flag", str(extrf)))
+ stat.values.append(KeyValue("Power-on Reset Flag", str(porf)))
msg.status.append(stat)
self.pub_diag.publish(msg)
return reset
- def get_tle_err(self):
+ def get_motor_err(self):
err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
msg = DiagnosticArray()
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)))))
+ # Diag
+ stat.values.append(KeyValue("aft left diag", str(bool(err & (1 << 0)))))
+ stat.values.append(KeyValue("front left diag", str(bool(err & (1 << 1)))))
+ stat.values.append(KeyValue("aft right diag", str(bool(err & (1 << 2)))))
+ stat.values.append(KeyValue("front right diag", str(bool(err & (1 << 3)))))
+ # Stall
+ stat.values.append(KeyValue("aft left stall", str(bool(err & (1 << 4)))))
+ stat.values.append(KeyValue("front left stall", str(bool(err & (1 << 5)))))
+ stat.values.append(KeyValue("aft right stall", str(bool(err & (1 << 6)))))
+ stat.values.append(KeyValue("front right stall", str(bool(err & (1 << 7)))))
msg.status.append(stat)
self.pub_diag.publish(msg)
def get_odom(self):
- posx, posy, angle = struct.unpack(">fff", i2c_read_reg(0x50, 0x40, 12))
- speed_trans, speed_rot = struct.unpack(">ff", i2c_read_reg(0x50, 0x38, 8))
+ speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
current_time = rospy.Time.now()
# since all odometry is 6DOF we'll need a quaternion created from yaw
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
+ odom.pose.covariance[35] = 0.03 # rotation about Z axis
# set the velocity
odom.child_frame_id = "base_footprint"
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
+ odom.twist.covariance[35] = 0.03 # rotation about Z axis
# publish the message
self.pub_odom.publish(odom)
i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
def cmdVelReceived(self, msg):
- trans = msg.linear.x
- rot = msg.angular.z # rad/s
- self.set_speed(trans, rot)
+ 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):
val = struct.unpack(">H", s)[0]
return val
- def get_dist_srf(self, num):
+ def start_dist_srf(self, num):
dev = i2c(0x52)
s = struct.pack("B", num)
dev.write(s)
dev.close()
- sleep(50e-3)
-
- dev = i2c(0x52)
- s = dev.read(2)
- dev.close()
-
- return struct.unpack(">H", s)[0]/1000.0
+ def read_dist_srf(self, num):
+ 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):
msg = Range()
def get_dist_left(self):
if self.pub_range_left.get_num_connections() > 0:
- dist = 30.553/(self.get_dist_ir(0x1) - -67.534)
- self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.04, 0.3, 5)
+ dist = self.get_dist_ir(0x1)
+ if dist > -67:
+ self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, 30.553/(dist - -67.534), 0.04, 0.3, 1)
def get_dist_right(self):
if self.pub_range_right.get_num_connections() > 0:
- dist = 17.4/(self.get_dist_ir(0x3) - 69)
- self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, dist, 0.04, 0.3, 5)
+ dist = self.get_dist_ir(0x3)
+ if dist > 69:
+ self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, 17.4/(dist - 69), 0.04, 0.3, 1)
def get_dist_forward(self):
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)
+ dist = self.read_dist_srf(0x15)
+ self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 40)
+ self.start_dist_srf(0x5) # get next value
def get_dist_backward(self):
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)
+ dist = self.read_dist_srf(0x17)
+ self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 40)
+ self.start_dist_srf(0x7) # get next value
+
+ def led_stripe_received(self, msg):
+ for led in msg.leds:
+ self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
+ self.pStripe.update()
if __name__ == "__main__":
projects / ros_wild_thumper.git / blobdiff