X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=3d3adefb058a7d15d1bd70b6352004f187ecf018;hp=7254c1d38ad4573961862f0af7850e87872d417b;hb=163e9fecf7bd83c737bd68b717ae47d174e93e12;hpb=c3307ab04ec14a48e15833c0894d9518d49613cf

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 7254c1d..3d3adef 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -65,14 +65,14 @@ class MoveBase:
 		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.cmd_vel = None
+		self.bMotorManual = False
 		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.pStripe = LPD8806(1, 0, 12)
 		rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
-		#rospy.Subscriber("imu", Imu, self.imuReceived)
 		rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
+		rospy.Subscriber("imu", Imu, self.imuReceived)
 		self.run()
 	
 	def run(self):
@@ -102,25 +102,28 @@ class MoveBase:
 	def execute_dyn_reconf(self, config, level):
 		self.bClipRangeSensor = config["range_sensor_clip"]
 		self.range_sensor_max = config["range_sensor_max"]
-		return config
+		self.odom_covar_xy = config["odom_covar_xy"]
+		self.odom_covar_angle = config["odom_covar_angle"]
+		self.rollover_protect = config["rollover_protect"]
+		self.rollover_protect_limit = config["rollover_protect_limit"]
+		self.rollover_protect_pwm = config["rollover_protect_pwm"]
 
-	def set_motor_handicap(self, front, aft): # percent
-		if front > 100: front = 100
-		if aft > 100: aft = 100
-		if self.handicap_last != (front, aft):
-			i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
-			self.handicap_last = (front, aft)
+		return config
 
 	def imuReceived(self, msg):
-		(roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
-		if pitch > 30*pi/180:
-			val = (100.0/60)*abs(pitch)*180/pi
-			self.set_motor_handicap(int(val), 0)
-		elif pitch < -30*pi/180:
-			val = (100.0/60)*abs(pitch)*180/pi
-			self.set_motor_handicap(0, int(val))
-		else:
-			self.set_motor_handicap(0, 0)
+		if self.rollover_protect:
+			(roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
+			if pitch > self.rollover_protect_limit*pi/180:
+				self.bMotorManual = True
+				i2c_write_reg(0x50, 0x3, struct.pack(">h", self.rollover_protect_pwm))
+				i2c_write_reg(0x50, 0x7, struct.pack(">h", self.rollover_protect_pwm))
+			elif pitch < -self.rollover_protect_limit*pi/180:
+				self.bMotorManual = True
+				i2c_write_reg(0x50, 0x1, struct.pack(">h", -self.rollover_protect_pwm))
+				i2c_write_reg(0x50, 0x5, struct.pack(">h", -self.rollover_protect_pwm))
+			elif self.bMotorManual:
+				i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0))
+				self.bMotorManual = False
 
 	def get_reset(self):
 		reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
@@ -212,24 +215,19 @@ class MoveBase:
 		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] = 0.03 # rotation about Z axis
+		odom.pose.covariance[0] = self.odom_covar_xy # x
+		odom.pose.covariance[7] = self.odom_covar_xy # y
+		odom.pose.covariance[14] = 99999 # z
+		odom.pose.covariance[21] = 99999 # rotation about X axis
+		odom.pose.covariance[28] = 99999 # rotation about Y axis
+		odom.pose.covariance[35] = self.odom_covar_angle # 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] = 0.03 # rotation about Z axis
+		odom.twist.covariance = odom.pose.covariance
 
 		# publish the message
 		self.pub_odom.publish(odom)
@@ -239,9 +237,10 @@ class MoveBase:
 		i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
 
 	def cmdVelReceived(self, msg):
-		rospy.logdebug("Set new cmd_vel:", msg.linear.x, msg.angular.z)
-		self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
-		rospy.logdebug("Set new cmd_vel done")
+		if not self.bMotorManual:
+			rospy.logdebug("Set new cmd_vel:", msg.linear.x, msg.angular.z)
+			self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
+			rospy.logdebug("Set new cmd_vel done")
 
 	# http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
 	def get_dist_ir(self, num):