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
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)
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("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()
if i % 2:
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 execute_dyn_reconf(self, config, level):
+ self.bClipRangeSensor = config["range_sensor_clip"]
+ self.range_sensor_max = config["range_sensor_max"]
+ return config
+
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
+ val = (100.0/60)*abs(pitch)*180/pi
self.set_motor_handicap(int(val), 0)
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(0, int(val))
else:
self.set_motor_handicap(0, 0)
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
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):
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
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):
projects / ros_wild_thumper.git / blobdiff