sonar sensors: set fov to 40° as stated in http://picaxe.hobbizine.com/srf05.html

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index eb9f8bd9bb138bf74c6ec771d7850b5fa77706c3..dcae6740c02b7fa35e07eb7416f75293cc0819eb 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -4,6 +4,7 @@
 import rospy
 import tf
 import struct
+import prctl
 from i2c import *
 from math import *
 from geometry_msgs.msg import Twist
@@ -16,7 +17,8 @@ WHEEL_DIST = 0.248
 class MoveBase:
        def __init__(self):
                rospy.init_node('wild_thumper')
-               rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
+               prctl.set_name("wild_thumper")
+               rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
                rospy.Subscriber("imu", Imu, self.imuReceived)
                enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
                if enable_odom_tf:
@@ -47,8 +49,9 @@ class MoveBase:
                        self.get_voltage()
                        if i % 2:
                                self.get_dist_forward()
-                               self.get_dist_backward()
                                self.get_dist_left()
+                       else:
+                               self.get_dist_backward()
                                self.get_dist_right()
                        i+=1
                        rate.sleep()
@@ -62,10 +65,10 @@ class MoveBase:
                (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))
+                       self.set_motor_handicap(int(val), 0)
                elif pitch < -30*pi/180:
                        val = (100.0/65)*abs(pitch)*180/pi
-                       self.set_motor_handicap(int(val), 0)
+                       self.set_motor_handicap(0, int(val))
                else:
                        self.set_motor_handicap(0, 0)
 
@@ -193,13 +196,17 @@ class MoveBase:
                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)
+       def read_dist_srf(self, num):
+               dev = i2c(0x52)
+               s = struct.pack("B", num)
+               dev.write(s)
+               dev.close()
 
                dev = i2c(0x52)
                s = dev.read(2)
@@ -221,22 +228,24 @@ class MoveBase:
        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)
+                       self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.04, 0.3, 1)
 
        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)
+                       self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, dist, 0.04, 0.3, 1)
 
        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)
+                       dist = self.read_dist_srf(0x15)
+                       self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 40)
+                       self.start_dist_srf(0x5) # get next value
 
        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, 6, 40)
+                       self.start_dist_srf(0x7) # get next value
                
 
 if __name__ == "__main__":