Makre range sensor fov configureable

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index bb6fbb02f0ef832f4c30da7dac25e0d767e60cd7..ab58496fca7b6f0220fe05216632f3d8c0811a4e 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
 
@@ -65,6 +65,7 @@ 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
@@ -121,6 +122,7 @@ class MoveBase:
        def execute_dyn_reconf(self, config, level):
                self.bClipRangeSensor = config["range_sensor_clip"]
                self.range_sensor_max = config["range_sensor_max"]
+               self.range_sensor_fov = config["range_sensor_fov"]
                self.odom_covar_xy = config["odom_covar_xy"]
                self.odom_covar_angle = config["odom_covar_angle"]
                self.rollover_protect = config["rollover_protect"]
@@ -211,6 +213,20 @@ 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()
@@ -320,7 +336,7 @@ class MoveBase:
        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_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
+                       self.send_range(self.pub_range_fwd_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov)
 
        def update_dist_forward_left(self):
                if self.pub_range_fwd_left.get_num_connections() > 0:
@@ -329,7 +345,7 @@ class MoveBase:
        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.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov)
 
        def update_dist_backward(self):
                if self.pub_range_bwd.get_num_connections() > 0:
@@ -338,7 +354,7 @@ class MoveBase:
        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.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov)
 
        def update_dist_forward_right(self):
                if self.pub_range_fwd_right.get_num_connections() > 0: