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_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.cur_vel = (0, 0)
+ self.bMotorManual = False
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("led_stripe", LedStripe, self.led_stripe_received)
+ rospy.Subscriber("imu", Imu, self.imuReceived)
self.run()
def run(self):
i+=1
if self.cmd_vel != None:
self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
+ self.cur_vel = self.cmd_vel
self.cmd_vel = None
rate.sleep()
- 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 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.rollover_protect = config["rollover_protect"]
+ self.rollover_protect_limit = config["rollover_protect_limit"]
+ self.rollover_protect_pwm = config["rollover_protect_pwm"]
+
+ return config
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.rollover_protect and any(self.cur_vel):
+ (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
+ if pitch > self.rollover_protect_limit*pi/180:
+ self.bMotorManual = True
+ i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, self.rollover_protect_pwm, 0, self.rollover_protect_pwm))
+ rospy.logwarn("Running forward rollver protection")
+ elif pitch < -self.rollover_protect_limit*pi/180:
+ self.bMotorManual = True
+ i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", -self.rollover_protect_pwm, 0, -self.rollover_protect_pwm, 0))
+ rospy.logwarn("Running backward rollver protection")
+ elif self.bMotorManual:
+ i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0))
+ self.bMotorManual = False
+ self.cmd_vel = (0, 0)
+ rospy.logwarn("Rollver protection done")
def get_reset(self):
reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
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)
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")
+ if not self.bMotorManual:
+ 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