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
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
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"]
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_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:
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:
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: