X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fmove_base.py;h=ae15b380ddd1cb3afc1ae05ad1f162b22fb9377a;hp=6886ec0cbfd69a303bcea8ff482c6aa61397ba2d;hb=0640fece763d17314bb1a9878c64309476fa1d4a;hpb=34bae39fabd9b44e1d169087e8d18d542f4f1525

diff --git a/scripts/move_base.py b/scripts/move_base.py
index 6886ec0..ae15b38 100755
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -2,10 +2,12 @@
 # -*- coding: iso-8859-15 -*-
 
 import rospy
+import tf
 import struct
-from i2c import i2c
+from i2c import *
 from math import *
 from geometry_msgs.msg import Twist
+from nav_msgs.msg import Odometry
 
 WHEEL_DIST = 0.248
 
@@ -13,38 +15,107 @@ class MoveBase:
 	def __init__(self):
 		rospy.init_node('wild_thumper_move_base')
 		rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
+		self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
+		self.pub_odom = rospy.Publisher("odom", Odometry, 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.run()
 	
 	def run(self):
-		rate = rospy.Rate(10.0)
+		rate = rospy.Rate(20.0)
 		while not rospy.is_shutdown():
+			#self.get_odom()
+			#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
+	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()
 
-		if left > 255: left=255
-		elif left < -255: left=-255
-		if right > 255: right=255
-		elif right < -255: right=-255
+		# since all odometry is 6DOF we'll need a quaternion created from yaw
+		odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
 
-		dev = i2c(0x56)
-		s = struct.pack(">Bhh", 0x1, left, right)
-		dev.write(s)
-		dev.close()
+		# first, we'll publish the transform over tf
+		self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_link", "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]
+
+		# set the velocity
+		odom.child_frame_id = "base_link"
+		odom.twist.twist.linear.x = speed_trans
+		odom.twist.twist.linear.y = 0.0
+		odom.twist.twist.angular.z = speed_rot
+
+		# publish the message
+		self.pub_odom.publish(odom)
+
+	
+	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
+		self.set_speed(trans, rot)
+
+	# http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
+	def get_dist_ir(self, num):
+		dev = i2c(0x52)
+		s = struct.pack("B", num)
+		dev.write(s)
+		dev.close()
+
+		sleep(2e-6)
+
+		dev = i2c(0x52)
+		s = dev.read(2)
+		dev.close()
+
+		val = struct.unpack(">H", s)[0]
+		return 15221/(val - -276.42)/100;
+	
+	def get_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 get_dist_left(self):
+		dist = self.get_dist_ir(0x1)
+
+	def get_dist_right(self):
+		 dist = self.get_dist_ir(0x3)
+
+	def get_dist_forward(self):
+		dist = self.get_dist_srf(0x5)
 
-		right = rot*pi*WHEEL_DIST + trans
-		left = trans*2-right
-		self.set_speed(left, right)
+	def get_dist_backward(self):
+		dist = self.get_dist_srf(0x7)
 
 
 if __name__ == "__main__":