rollover protection: replace handicap with reverse motor

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 7254c1d38ad4573961862f0af7850e87872d417b..3d3adefb058a7d15d1bd70b6352004f187ecf018 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -65,14 +65,14 @@ class MoveBase:
                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.bMotorManual = False
                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)
+               rospy.Subscriber("imu", Imu, self.imuReceived)
                self.run()
        
        def run(self):
@@ -102,25 +102,28 @@ class MoveBase:
        def execute_dyn_reconf(self, config, level):
                self.bClipRangeSensor = config["range_sensor_clip"]
                self.range_sensor_max = config["range_sensor_max"]
-               return config
+               self.odom_covar_xy = config["odom_covar_xy"]
+               self.odom_covar_angle = config["odom_covar_angle"]
+               self.rollover_protect = config["rollover_protect"]
+               self.rollover_protect_limit = config["rollover_protect_limit"]
+               self.rollover_protect_pwm = config["rollover_protect_pwm"]
 
-       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)
+               return config
 
        def imuReceived(self, msg):
-               (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
-               if pitch > 30*pi/180:
-                       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)
+               if self.rollover_protect:
+                       (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
+                       if pitch > self.rollover_protect_limit*pi/180:
+                               self.bMotorManual = True
+                               i2c_write_reg(0x50, 0x3, struct.pack(">h", self.rollover_protect_pwm))
+                               i2c_write_reg(0x50, 0x7, struct.pack(">h", self.rollover_protect_pwm))
+                       elif pitch < -self.rollover_protect_limit*pi/180:
+                               self.bMotorManual = True
+                               i2c_write_reg(0x50, 0x1, struct.pack(">h", -self.rollover_protect_pwm))
+                               i2c_write_reg(0x50, 0x5, struct.pack(">h", -self.rollover_protect_pwm))
+                       elif self.bMotorManual:
+                               i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0))
+                               self.bMotorManual = False
 
        def get_reset(self):
                reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
@@ -212,24 +215,19 @@ 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)
@@ -239,9 +237,10 @@ 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")
+               if not self.bMotorManual:
+                       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):