Removed global_costmap_params_gps and increased

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 5215d49ca5d3e7dd68fb751181f0fac9d8f197cd..5fc2e2d53155630563bf342d12769c9d3861de27 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -13,7 +13,7 @@ from geometry_msgs.msg import Twist
 from nav_msgs.msg import Odometry
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 from dynamic_reconfigure.server import Server
-from sensor_msgs.msg import Imu, Range
+from sensor_msgs.msg import Imu, Range, BatteryState
 from wild_thumper.msg import LedStripe
 from wild_thumper.cfg import WildThumperConfig
 
@@ -65,10 +65,12 @@ class MoveBase:
                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.pub_battery = rospy.Publisher("battery", BatteryState, queue_size=16)
                self.cmd_vel = None
                self.cur_vel = (0, 0)
                self.bMotorManual = False
                self.set_speed(0, 0)
+               self.volt_last_warn = rospy.Time.now()
                rospy.loginfo("Init done")
                i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
                self.pStripe = LPD8806(1, 0, 12)
@@ -100,12 +102,15 @@ class MoveBase:
 
                        if sonar_count == 0:
                                self.get_dist_forward_left()
+                               self.update_dist_backward()
                                sonar_count+=1
                        elif sonar_count == 1:
                                self.get_dist_backward()
+                               self.update_dist_forward_right()
                                sonar_count+=1
                        elif sonar_count == 2:
                                self.get_dist_forward_right()
+                               self.update_dist_forward_left()
                                sonar_count=0
 
                        if self.cmd_vel != None:
@@ -207,6 +212,24 @@ class MoveBase:
                msg.status.append(stat)
                self.pub_diag.publish(msg)
 
+               if self.pub_battery.get_num_connections() > 0:
+                       batmsg = BatteryState()
+                       batmsg.header.stamp = rospy.Time.now()
+                       batmsg.voltage = volt
+                       batmsg.current = float('nan')
+                       batmsg.charge = float('nan')
+                       batmsg.capacity = float('nan')
+                       batmsg.design_capacity = 5.0
+                       batmsg.percentage = float('nan')
+                       batmsg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING
+                       batmsg.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_UNKNOWN
+                       batmsg.power_supply_technology = BatteryState.POWER_SUPPLY_TECHNOLOGY_NIMH
+                       self.pub_battery.publish(batmsg)
+
+               if volt < 7 and (rospy.Time.now() - self.volt_last_warn).to_sec() > 10:
+                       rospy.logerr("Voltage critical: %.2fV" % (volt))
+                       self.volt_last_warn = rospy.Time.now()
+
 
        def get_odom(self):
                speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
@@ -234,9 +257,9 @@ class MoveBase:
                odom.pose.pose.orientation.w = odom_quat[3]
                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[14] = self.odom_covar_xy # z
+               odom.pose.covariance[21] = self.odom_covar_angle # rotation about X axis
+               odom.pose.covariance[28] = self.odom_covar_angle # rotation about Y axis
                odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
 
                # set the velocity
@@ -313,19 +336,28 @@ class MoveBase:
                if self.pub_range_fwd_left.get_num_connections() > 0:
                        dist = self.read_dist_srf(0x15)
                        self.send_range(self.pub_range_fwd_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
-                       self.start_dist_srf(0x5) # get next value
+
+       def update_dist_forward_left(self):
+               if self.pub_range_fwd_left.get_num_connections() > 0:
+                       self.start_dist_srf(0x5)
 
        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, self.range_sensor_max, 30)
-                       self.start_dist_srf(0x7) # get next value
+
+       def update_dist_backward(self):
+               if self.pub_range_bwd.get_num_connections() > 0:
+                       self.start_dist_srf(0x7)
 
        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_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
-                       self.start_dist_srf(0xb) # get next value
+
+       def update_dist_forward_right(self):
+               if self.pub_range_fwd_right.get_num_connections() > 0:
+                       self.start_dist_srf(0xb)
        
        def led_stripe_received(self, msg):
                for led in msg.leds: