Add third sonar to ros config

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 3d3adefb058a7d15d1bd70b6352004f187ecf018..50cde9f5af3b10b75281767562a0924bd14747c5 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -60,11 +60,13 @@ class MoveBase:
                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)
+               self.pub_range_fwd_left = rospy.Publisher("range_forward_left", Range, queue_size=16)
+               self.pub_range_fwd_right = rospy.Publisher("range_forward_right", Range, queue_size=16)
                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.cur_vel = (0, 0)
                self.bMotorManual = False
                self.set_speed(0, 0)
                rospy.loginfo("Init done")
@@ -80,22 +82,35 @@ class MoveBase:
                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
+               ir_count = 0
+               sonar_count = 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()
                        self.get_voltage()
-                       if i % 2:
-                               self.get_dist_forward()
+
+                       if ir_count == 0:
                                self.get_dist_left()
+                               ir_count+=1
                        else:
-                               self.get_dist_backward()
                                self.get_dist_right()
-                       i+=1
+                               ir_count+=1
+
+                       if sonar_count == 0:
+                               self.get_dist_forward_left()
+                               sonar_count=0
+                       elif sonar_count == 1:
+                               self.get_dist_backward()
+                               sonar_count+=1
+                       elif sonar_count == 2:
+                               self.get_dist_forward_right()
+                               sonar_count=0
+
                        if self.cmd_vel != None:
                                self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
+                               self.cur_vel = self.cmd_vel
                                self.cmd_vel = None
                        rate.sleep()
 
@@ -111,19 +126,21 @@ class MoveBase:
                return config
 
        def imuReceived(self, msg):
-               if self.rollover_protect:
+               if self.rollover_protect and any(self.cur_vel):
                        (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))
+                               i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, self.rollover_protect_pwm, 0, self.rollover_protect_pwm))
+                               rospy.logwarn("Running forward rollver protection")
                        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))
+                               i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", -self.rollover_protect_pwm, 0, -self.rollover_protect_pwm, 0))
+                               rospy.logwarn("Running backward rollver protection")
                        elif self.bMotorManual:
                                i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0))
                                self.bMotorManual = False
+                               self.cmd_vel = (0, 0)
+                               rospy.logwarn("Rollver protection done")
 
        def get_reset(self):
                reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
@@ -292,10 +309,10 @@ class MoveBase:
                        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:
+       def get_dist_forward_left(self):
+               if self.pub_range_fwd_left.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x15)
-                       self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
+                       self.send_range(self.pub_range_fwd, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
                        self.start_dist_srf(0x5) # get next value
 
        def get_dist_backward(self):
@@ -303,6 +320,12 @@ class MoveBase:
                        dist = self.read_dist_srf(0x17)
                        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 get_dist_forward_right(self):
+               if self.pub_range_fwd_right.get_num_connections() > 0:
+                       dist = self.read_dist_srf(0x19)
+                       self.send_range(self.pub_range_fwd, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
+                       self.start_dist_srf(0x9) # get next value
        
        def led_stripe_received(self, msg):
                for led in msg.leds: