reenabled motor handicap and made parameters configureable with

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 2de2f590141a0960a47d8bd6f14033accc73e0f2..5fc59d7dbf5dad1dfd63639fa267534032073aa4 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)
@@ -68,8 +71,8 @@ class MoveBase:
                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):
@@ -96,6 +99,20 @@ 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"]
+               self.pitch_handicap_enable = config["pitch_handicap_enable"]
+               self.pitch_handicap_limit = config["pitch_handicap_limit"]
+               self.pitch_handicap_strength = config["pitch_handicap_strength"]
+
+               if not self.pitch_handicap_enable:
+                       self.set_motor_handicap(0, 0)
+
+               return config
+
        def set_motor_handicap(self, front, aft): # percent
                if front > 100: front = 100
                if aft > 100: aft = 100
@@ -104,15 +121,16 @@ class MoveBase:
                        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 = (100.0/60)*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.pitch_handicap_enable:
+                       (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
+                       if pitch > self.pitch_handicap_limit*pi/180:
+                               val = (100.0/self.pitch_handicap_strength)*abs(pitch)*180/pi
+                               self.set_motor_handicap(int(val), 0)
+                       elif pitch < -self.pitch_handicap_limit*pi/180:
+                               val = (100.0/self.pitch_handicap_strength)*abs(pitch)*180/pi
+                               self.set_motor_handicap(0, int(val))
+                       else:
+                               self.set_motor_handicap(0, 0)
 
        def get_reset(self):
                reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
@@ -204,24 +222,19 @@ 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)
@@ -261,6 +274,8 @@ 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
@@ -286,13 +301,13 @@ 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):