X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=03d61be0b722cc5b7399e8068f29fb45a6c0087a;hp=ee0aa41429f932d32b72884703840cca15913a10;hb=9fc6420d4ecd7763ab37a262d15d0fed2f946e58;hpb=0ce791b21f3bb0557034f144c26a8e6aa86f508c

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index ee0aa41..03d61be 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -16,6 +16,7 @@ from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 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
@@ -47,6 +48,7 @@ class WTBase:
 		i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
 		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
@@ -373,7 +375,11 @@ class WTBase:
 			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__":
 	WTBase()