X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fmove_base.py;h=0d68ce93aa9ecbdd0308982c3f6c8ad9561b46fd;hp=fbd265fb9c6001c75879da1d0cb406ab7d110f9a;hb=67442b2a9cc0d3110380fba786b4e9291db7f615;hpb=ece97d94709b5e779ec2a48cf47319163a122bc5

diff --git a/scripts/move_base.py b/scripts/move_base.py
index fbd265f..0d68ce9 100755
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -2,10 +2,14 @@
 # -*- coding: iso-8859-15 -*-
 
 import rospy
+import tf
 import struct
 from i2c import *
 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
 
 WHEEL_DIST = 0.248
 
@@ -13,43 +17,162 @@ class MoveBase:
 	def __init__(self):
 		rospy.init_node('wild_thumper_move_base')
 		rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
+		rospy.Subscriber("imu", Imu, self.imuReceived)
+		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.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_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.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.run()
 	
 	def run(self):
-		rate = rospy.Rate(10.0)
+		rate = rospy.Rate(20.0)
+		reset_val = self.get_reset()
+		rospy.loginfo("Reset Status: 0x%x" % reset_val)
 		while not rospy.is_shutdown():
-			#self.get_dist_forward()
-			#self.get_dist_backward()
-			#self.get_dist_left()
-			#self.get_dist_right()
+			#print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
+			self.get_tle_err()
+			self.get_odom()
+			self.get_voltage()
+			self.get_dist_forward()
+			self.get_dist_backward()
+			self.get_dist_left()
+			self.get_dist_right()
 			rate.sleep()
 
-	def set_speed(self, left, right):
-		if left > 0: left+=80
-		elif left < 0: left-=80
-		if right > 0: right+=80
-		elif right < 0: right-=80
-
-		if left > 255: left=255
-		elif left < -255: left=-255
-		if right > 255: right=255
-		elif right < -255: right=-255
+	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 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)
+
+	def get_reset(self):
+		reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
+
+		msg = DiagnosticArray()
+		msg.header.stamp = rospy.Time.now()
+		stat = DiagnosticStatus()
+		stat.name = "Reset reason"
+		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)))))
+
+		msg.status.append(stat)
+		self.pub_diag.publish(msg)
+		return reset
+
+
+	def get_tle_err(self):
+		err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
+		
+		msg = DiagnosticArray()
+		msg.header.stamp = rospy.Time.now()
+		stat = DiagnosticStatus()
+		stat.name = "Motor: Error Status"
+		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)))))
+
+		msg.status.append(stat)
+		self.pub_diag.publish(msg)
+	
+	def get_voltage(self):
+		volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
+
+		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
+
+		msg.status.append(stat)
+		self.pub_diag.publish(msg)
+
+
+	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))
+		current_time = rospy.Time.now()
+
+		# since all odometry is 6DOF we'll need a quaternion created from yaw
+		odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
+
+		# first, we'll publish the transform over tf
+		if self.tf_broadcaster is not None:
+			self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
+
+		# next, we'll publish the odometry message over ROS
+		odom = Odometry()
+		odom.header.stamp = current_time
+		odom.header.frame_id = "/odom"
+
+		# set the position
+		odom.pose.pose.position.x = posx
+		odom.pose.pose.position.y = posy
+		odom.pose.pose.position.z = 0.0
+		odom.pose.pose.orientation.x = odom_quat[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] = 0.1 # 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] = 0.1 # rotation about Z axis
+
+		# publish the message
+		self.pub_odom.publish(odom)
 
-		dev = i2c(0x50)
-		s = struct.pack(">Bhhhh", 0x1, right, right, left, left)
-		dev.write(s)
-		dev.close()
+	
+	def set_speed(self, trans, rot):
+		i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
 
 	def cmdVelReceived(self, msg):
 		trans = msg.linear.x
 		rot = msg.angular.z # rad/s
-
-		right = rot*pi*WHEEL_DIST + trans
-		left = trans*2-right
-		self.set_speed(left, right)
+		self.set_speed(trans, rot)
 
 	# http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
 	def get_dist_ir(self, num):
@@ -65,7 +188,7 @@ class MoveBase:
 		dev.close()
 
 		val = struct.unpack(">H", s)[0]
-		return 15221/(val - -276.42)/100;
+		return val
 	
 	def get_dist_srf(self, num):
 		dev = i2c(0x52)
@@ -81,18 +204,37 @@ class MoveBase:
 
 		return struct.unpack(">H", s)[0]/1000.0
 
+	def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
+		msg = Range()
+		msg.header.stamp = rospy.Time.now()
+		msg.header.frame_id = frame_id
+		msg.radiation_type = typ
+		msg.field_of_view = fov_deg*pi/180
+		msg.min_range = min_range
+		msg.max_range = max_range
+		msg.range = dist
+		pub.publish(msg)
+
 	def get_dist_left(self):
-		dist = self.get_dist_ir(0x1)
+		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):
-		 dist = self.get_dist_ir(0x3)
+		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(self):
-		dist = self.get_dist_srf(0x5)
+		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 get_dist_backward(self):
-		dist = self.get_dist_srf(0x7)
-
+		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)
+		
 
 if __name__ == "__main__":
 	MoveBase()