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)
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_motor_err()
self.get_odom()
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
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")
# 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):