X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fdwm1000.py;h=52a9e2730bc9853bfbf80efaaa42342fcb8ff6cb;hp=d36a5d2f7e683fbc9e96e773ac874aa91821c2b9;hb=3e4ac9f32b7c6b765650b9bae905dd0d81337f57;hpb=112a7d2803b300557cf90e1cd48c0f81a8b7070e diff --git a/scripts/dwm1000.py b/scripts/dwm1000.py index d36a5d2..52a9e27 100755 --- a/scripts/dwm1000.py +++ b/scripts/dwm1000.py @@ -9,10 +9,12 @@ import rospy import tf import numpy as np from math import * +from datetime import datetime from i2c import i2c from time import sleep from std_msgs.msg import Float32 from nav_msgs.msg import Odometry +from wild_thumper.srv import DWM1000Center, DWM1000CenterResponse if VISULAIZE: import matplotlib.pyplot as plt @@ -40,6 +42,10 @@ class simple_kalman: return x + def set_measure_cov(self, R): + if R > 0: + self.R = R + class DW1000(threading.Thread): def __init__(self, name, addr, offset): threading.Thread.__init__(self) @@ -48,6 +54,7 @@ class DW1000(threading.Thread): self.offset = offset self.addr = addr self.name = name + self.last_update = datetime.min self.pub = rospy.Publisher(name, Float32, queue_size=16) @@ -62,14 +69,21 @@ class DW1000(threading.Thread): def distance(self): return self.dist + # Returns each distance only if current + def distance_valid(self): + if (datetime.now() - self.last_update).seconds < 1: + return self.dist + return None + def run(self): last_val = 10 - while True: + while not rospy.is_shutdown(): val = self.get_value() if abs(val - last_val) > 10: - print "Ignoring values too far apart %s: %.2f - %.2f" % (self.name, val, last_val) + rospy.logwarn("Ignoring values too far apart %s: %.2f - %.2f", self.name, val, last_val) elif not isnan(val): self.dist = val + self.offset + self.last_update = datetime.now() self.pub.publish(self.distance()) last_val = val sleep(0.1) @@ -113,59 +127,84 @@ class Position: self.filter_x.x_est = pos[0] self.filter_y.x_est = pos[1] - # run kalman - x = self.filter_x.run(x) - y = self.filter_y.run(y) + # run kalman if new measurements are valid + if x != None and y != None: + x = self.filter_x.run(x) + y = self.filter_y.run(y) + + # Update covariance + dist = np.linalg.norm([x, y]) + self.filter_x.set_measure_cov(np.polyval([0.017795, -0.021832, 0.010968], dist)) + self.filter_y.set_measure_cov(np.polyval([0.0060314, -0.013387, 0.0065049], dist)) + else: + x = self.filter_x.x_est + y = self.filter_y.x_est self.last_time = current_time return x,y +def handle_center_call(req): + diff = dwleft.distance_valid() - dwright.distance_valid() + dwleft.offset -= diff/2 + dwright.offset += diff/2 + rospy.loginfo("Centering to %.2f %.2f", dwleft.offset, dwright.offset) + return DWM1000CenterResponse() + if __name__ == "__main__": - rospy.init_node('DW1000') - dwleft = DW1000("uwb_dist_left", 0xc2, +0.0) - dwright = DW1000("uwb_dist_right", 0xc0, -0.0) - dist_l_r = 0.285 + rospy.init_node('DWM1000', log_level=rospy.DEBUG) + dwleft = DW1000("uwb_dist_left", 0xc2, +0.00) + dwright = DW1000("uwb_dist_right", 0xc0, -0.00) + dist_l_r = 0.285 # Distance between both DWM1000 rate = rospy.Rate(10) pos = Position() tf_broadcaster = tf.broadcaster.TransformBroadcaster() + rospy.Service('/DWM1000/center', DWM1000Center, handle_center_call) while not rospy.is_shutdown() and dwleft.is_alive() and dwright.is_alive(): - dist_left = dwleft.distance() - dist_right = dwright.distance() - dir = "left" if (dist_left < dist_right) else "right" - - diff = abs(dist_left - dist_right) - if diff >= dist_l_r: - # difference to high, correct to maximum - off = diff - dist_l_r + 0.01 - if dist_left > dist_right: - dist_left -= off/2 - dist_right += off/2 + dist_left = dwleft.distance_valid() + dist_right = dwright.distance_valid() + if dist_left == None or dist_right == None: + rospy.logerr_throttle(10, "no valid sensor update") + # run kalman prediction only + pos.filter(None, None) + else: + dir = "left" if (dist_left < dist_right) else "right" + + diff = abs(dist_left - dist_right) + if diff >= dist_l_r: + # difference to high, correct to maximum + off = diff - dist_l_r + 0.01 + if dist_left > dist_right: + dist_left -= off/2 + dist_right += off/2 + else: + dist_left += off/2 + dist_right -= off/2 + rospy.logdebug("%.2f %.2f %.2f %.2f %s", dwleft.distance(), dwright.distance(), dist_left, dist_right, dir) + + a_r = (-dist_right**2 + dist_left**2 - dist_l_r**2) / (-2*dist_l_r) + x = dist_l_r/2 - a_r + t = dist_right**2 - a_r**2 + if t >= 0: + y = sqrt(t) + rospy.logdebug("x=%.2f, y=%.2f", x, y) + # Rotate 90 deg + x, y = (y, -x) + + x, y = pos.filter(x, y) + tf_broadcaster.sendTransform((x, y, 0.0), (0, 0, 0, 1), rospy.Time.now(), "uwb_beacon", "base_footprint") + + if VISULAIZE: + circle_left = plt.Circle((-dist_l_r/2, 0), dwleft.distance, color='red', fill=False) + circle_right = plt.Circle((dist_l_r/2, 0), dwright.distance, color='green', fill=False) + plt.gca().add_patch(circle_left) + plt.gca().add_patch(circle_right) + plt.grid(True) + plt.axis('scaled') + plt.show() else: - dist_left += off/2 - dist_right -= off/2 - print "%.2f %.2f %.2f %.2f %s" % (dwleft.distance(), dwright.distance(), dist_left, dist_right, dir) - - a_r = (-dist_right**2 + dist_left**2 - dist_l_r**2) / (-2*dist_l_r) - x = dist_l_r/2 - a_r - t = dist_right**2 - a_r**2 - if t >= 0: - y = sqrt(t) - print x,y - # Rotate 90 deg - x, y = (y, -x) - - x, y = pos.filter(x, y) - tf_broadcaster.sendTransform((x, y, 0.0), (0, 0, 0, 1), rospy.Time.now(), "uwb_beacon", "base_footprint") - - if VISULAIZE: - circle_left = plt.Circle((-dist_l_r/2, 0), dwleft.distance, color='red', fill=False) - circle_right = plt.Circle((dist_l_r/2, 0), dwright.distance, color='green', fill=False) - plt.gca().add_patch(circle_left) - plt.gca().add_patch(circle_right) - plt.grid(True) - plt.axis('scaled') - plt.show() + # No current position, still need up update kalman prediction + pos.filter(None, None) rate.sleep()