wt_node: Warn every 10s if voltage is lo10s if voltage is loww

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 1549ea6f7aad56b906c7ad18321dd5857fadd882..bb6fbb02f0ef832f4c30da7dac25e0d767e60cd7 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -69,6 +69,7 @@ class MoveBase:
                self.cur_vel = (0, 0)
                self.bMotorManual = False
                self.set_speed(0, 0)
+               self.volt_last_warn = rospy.Time.now()
                rospy.loginfo("Init done")
                i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
                self.pStripe = LPD8806(1, 0, 12)
@@ -210,6 +211,10 @@ class MoveBase:
                msg.status.append(stat)
                self.pub_diag.publish(msg)
 
+               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_odom(self):
                speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
@@ -237,9 +242,9 @@ class MoveBase:
                odom.pose.pose.orientation.w = odom_quat[3]
                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[14] = self.odom_covar_xy # z
+               odom.pose.covariance[21] = self.odom_covar_angle # rotation about X axis
+               odom.pose.covariance[28] = self.odom_covar_angle # rotation about Y axis
                odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
 
                # set the velocity