import rospy
import tf
import struct
-from i2c import *
+import thread
+import prctl
+import spidev
+from time import sleep
+from i2c import i2c, i2c_write_reg, i2c_read_reg
from math import *
from geometry_msgs.msg import Twist
from nav_msgs.msg import Odometry
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
-from sensor_msgs.msg import Imu, Range
+from dynamic_reconfigure.server import Server
+from sensor_msgs.msg import Imu, Range, BatteryState
+from wild_thumper.cfg import WildThumperConfig
+from std_srvs.srv import SetBool, SetBoolResponse
WHEEL_DIST = 0.248
+BATTERY_CAPACITY_FULL = 2.750 # Ah, NiMH=2.750, LiFePO4=3.100
+UPDATE_RATE = 20.0
-class MoveBase:
+class WTBase:
def __init__(self):
rospy.init_node('wild_thumper')
- rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
- rospy.Subscriber("imu", Imu, self.imuReceived)
+ prctl.set_name("wild_thumper")
enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
if enable_odom_tf:
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_fwd_left = rospy.Publisher("range_forward_left", Range, queue_size=16)
+ self.pub_range_fwd_right = rospy.Publisher("range_forward_right", Range, queue_size=16)
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
self.set_speed(0, 0)
- rospy.loginfo("Init done")
+ self.volt_last_warn = rospy.Time.now()
i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
- self.handicap_last = (-1, -1)
+ rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
+ rospy.Subscriber("imu", Imu, self.imuReceived)
+ rospy.Service('~manipulator_enable', SetBool, self.enableManipulator)
+ self.bDocked = False
+ self.bDocked_last = False
+ self.battery_capacity = BATTERY_CAPACITY_FULL*3600 # As
+ rospy.loginfo("Init done")
self.run()
def run(self):
- rate = rospy.Rate(20.0)
+ rate = rospy.Rate(UPDATE_RATE)
+ sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
reset_val = self.get_reset()
rospy.loginfo("Reset Status: 0x%x" % reset_val)
- i = 0
+ sonar_count = 0
+ i2c_write_reg(0x50, 0xA4, struct.pack("B", 1)) # enable Watchdog
while not rospy.is_shutdown():
+ rospy.logdebug("Loop alive")
+ #print "Watchdog", struct.unpack(">B", i2c_read_reg(0x50, 0xA4, 1))[0]
#print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
- self.get_tle_err()
+ self.get_motor_err()
self.get_odom()
- self.get_voltage()
- if i % 2:
- self.get_dist_forward()
+ self.get_power()
+
+ if sonar_count == 0:
+ self.get_dist_forward_left()
+ self.update_dist_backward()
+ sonar_count+=1
+ elif sonar_count == 1:
self.get_dist_backward()
- self.get_dist_left()
- self.get_dist_right()
- i+=1
+ self.update_dist_forward_right()
+ sonar_count+=1
+ elif sonar_count == 2:
+ self.get_dist_forward_right()
+ self.update_dist_forward_left()
+ sonar_count=0
+
+ 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
+
+ self.check_docked()
rate.sleep()
- def set_motor_handicap(self, front, aft): # percent
- 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.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"]
+ self.rollover_protect_limit = config["rollover_protect_limit"]
+ self.rollover_protect_pwm = config["rollover_protect_pwm"]
+ self.bStayDocked = config["stay_docked"]
+
+ return config
def imuReceived(self, msg):
- (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
- if pitch > 30*pi/180:
- val = (100.0/65)*abs(pitch)*180/pi
- self.set_motor_handicap(0, int(val))
- elif pitch < -30*pi/180:
- val = (100.0/65)*abs(pitch)*180/pi
- self.set_motor_handicap(int(val), 0)
- else:
- self.set_motor_handicap(0, 0)
+ if self.rollover_protect and (any(self.cur_vel) or self.bMotorManual):
+ (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]
stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
stat.message = "0x%02x" % reset
- stat.values.append(KeyValue("Watchdog Reset Flag", str(bool(reset & (1 << 3)))))
- stat.values.append(KeyValue("Brown-out Reset Flag", str(bool(reset & (1 << 2)))))
- stat.values.append(KeyValue("External Reset Flag", str(bool(reset & (1 << 1)))))
- stat.values.append(KeyValue("Power-on Reset Flag", str(bool(reset & (1 << 0)))))
+ wdrf = bool(reset & (1 << 3))
+ if wdrf: rospy.loginfo("Watchdog Reset")
+ borf = bool(reset & (1 << 2))
+ if borf: rospy.loginfo("Brown-out Reset Flag")
+ extrf = bool(reset & (1 << 1))
+ if extrf: rospy.loginfo("External Reset Flag")
+ porf = bool(reset & (1 << 0))
+ if porf: rospy.loginfo("Power-on Reset Flag")
+ stat.values.append(KeyValue("Watchdog Reset Flag", str(wdrf)))
+ stat.values.append(KeyValue("Brown-out Reset Flag", str(borf)))
+ stat.values.append(KeyValue("External Reset Flag", str(extrf)))
+ stat.values.append(KeyValue("Power-on Reset Flag", str(porf)))
msg.status.append(stat)
self.pub_diag.publish(msg)
return reset
- def get_tle_err(self):
+ def get_motor_err(self):
err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
msg = DiagnosticArray()
stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
stat.message = "0x%02x" % err
- stat.values.append(KeyValue("aft left", str(bool(err & (1 << 0)))))
- stat.values.append(KeyValue("front left", str(bool(err & (1 << 1)))))
- stat.values.append(KeyValue("front right", str(bool(err & (1 << 2)))))
- stat.values.append(KeyValue("aft right", str(bool(err & (1 << 3)))))
+ # Diag
+ stat.values.append(KeyValue("aft left diag", str(bool(err & (1 << 0)))))
+ stat.values.append(KeyValue("front left diag", str(bool(err & (1 << 1)))))
+ stat.values.append(KeyValue("aft right diag", str(bool(err & (1 << 2)))))
+ stat.values.append(KeyValue("front right diag", str(bool(err & (1 << 3)))))
+ # Stall
+ stat.values.append(KeyValue("aft left stall", str(bool(err & (1 << 4)))))
+ stat.values.append(KeyValue("front left stall", str(bool(err & (1 << 5)))))
+ stat.values.append(KeyValue("aft right stall", str(bool(err & (1 << 6)))))
+ stat.values.append(KeyValue("front right stall", str(bool(err & (1 << 7)))))
msg.status.append(stat)
self.pub_diag.publish(msg)
- def get_voltage(self):
+ def get_power(self):
volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
+ current = struct.unpack(">h", i2c_read_reg(0x52, 0x0D, 2))[0]/1000.0
msg = DiagnosticArray()
msg.header.stamp = rospy.Time.now()
stat = DiagnosticStatus()
- stat.name = "Voltage"
- stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
- stat.message = "%.2fV" % volt
+ stat.name = "Power"
+ stat.level = DiagnosticStatus.ERROR if volt < 7 or current > 5 else DiagnosticStatus.OK
+ stat.message = "%.2fV, %.2fA" % (volt, current)
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()
+
+ self.bDocked = volt > 10.1
+ self.update_capacity(volt, current)
+
+ if self.pub_battery.get_num_connections() > 0:
+ batmsg = BatteryState()
+ batmsg.header.stamp = rospy.Time.now()
+ batmsg.voltage = volt
+ batmsg.current = current
+ batmsg.charge = self.battery_capacity/3600.0
+ batmsg.capacity = float('nan')
+ batmsg.design_capacity = BATTERY_CAPACITY_FULL
+ batmsg.percentage = batmsg.charge/batmsg.design_capacity
+ 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
+ batmsg.present = True
+ self.pub_battery.publish(batmsg)
+
+ def update_capacity(self, volt, current):
+ if self.bDocked:
+ self.battery_capacity = BATTERY_CAPACITY_FULL*3600
+ else:
+ self.battery_capacity -= current/UPDATE_RATE
def get_odom(self):
- posx, posy, angle = struct.unpack(">fff", i2c_read_reg(0x50, 0x40, 12))
- speed_trans, speed_rot = struct.unpack(">ff", i2c_read_reg(0x50, 0x38, 8))
+ speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
current_time = rospy.Time.now()
# since all odometry is 6DOF we'll need a quaternion created from yaw
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] = 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
odom.child_frame_id = "base_footprint"
odom.twist.twist.linear.x = speed_trans
odom.twist.twist.linear.y = 0.0
+ odom.twist.twist.linear.z = 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):
- trans = msg.linear.x
- rot = msg.angular.z # rad/s
- self.set_speed(trans, rot)
+ if not self.bMotorManual:
+ rospy.logdebug("Set new cmd_vel: %.2f %.2f", 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):
val = struct.unpack(">H", s)[0]
return val
- def get_dist_srf(self, num):
+ def start_dist_srf(self, num):
dev = i2c(0x52)
s = struct.pack("B", num)
dev.write(s)
dev.close()
- sleep(50e-3)
-
- dev = i2c(0x52)
- s = dev.read(2)
- dev.close()
-
- return struct.unpack(">H", s)[0]/1000.0
+ def read_dist_srf(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
msg.range = dist
pub.publish(msg)
- def get_dist_left(self):
- if self.pub_range_left.get_num_connections() > 0:
- dist = 30.553/(self.get_dist_ir(0x1) - -67.534)
- self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.04, 0.3, 5)
-
- def get_dist_right(self):
- if self.pub_range_right.get_num_connections() > 0:
- dist = 17.4/(self.get_dist_ir(0x3) - 69)
- self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, dist, 0.04, 0.3, 5)
+ 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, self.range_sensor_fov)
- def get_dist_forward(self):
- if self.pub_range_fwd.get_num_connections() > 0:
- dist = self.get_dist_srf(0x5)
- self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 60)
+ def update_dist_forward_left(self):
+ if self.pub_range_fwd_left.get_num_connections() > 0:
+ self.start_dist_srf(0x5)
def get_dist_backward(self):
if self.pub_range_bwd.get_num_connections() > 0:
- dist = self.get_dist_srf(0x7)
- self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 60)
-
+ dist = self.read_dist_srf(0x17)
+ 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:
+ self.start_dist_srf(0x7)
+
+ 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, self.range_sensor_fov)
+
+ def update_dist_forward_right(self):
+ if self.pub_range_fwd_right.get_num_connections() > 0:
+ self.start_dist_srf(0xb)
+
+ def check_docked(self):
+ if self.bDocked and not self.bDocked_last:
+ rospy.loginfo("Docking event")
+ elif not self.bDocked and self.bDocked_last:
+ if not self.bStayDocked or self.cur_vel != (0, 0):
+ rospy.loginfo("Undocking event")
+ else:
+ rospy.loginfo("Undocking event..redocking")
+ thread.start_new_thread(self.redock, ())
+
+ self.bDocked_last = self.bDocked
+
+ def redock(self):
+ self.cmd_vel = (-0.1, 0)
+ for i in range(100):
+ if self.bDocked:
+ break
+ sleep(0.01)
+ self.cmd_vel = (0, 0)
+ if self.bDocked:
+ rospy.loginfo("Redocking done")
+ else:
+ rospy.logerr("Redocking failed")
+
+ def enableManipulator(self, msg):
+ rospy.loginfo("Set Manipulator: %d", msg.data)
+ i2c_write_reg(0x52, 0x0f, chr(msg.data))
+ return SetBoolResponse(True, "")
if __name__ == "__main__":
- MoveBase()
+ WTBase()
projects / ros_wild_thumper.git / blobdiff