X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=5215d49ca5d3e7dd68fb751181f0fac9d8f197cd;hp=2aa98a24b78d416da53ef8616dde5463eaf31628;hb=1bb8d565837691d68b3d674463be10de3330c2da;hpb=67ce0bb517f49851a8421981b074d472c8dc9624 diff --git a/scripts/wt_node.py b/scripts/wt_node.py index 2aa98a2..5215d49 100755 --- a/scripts/wt_node.py +++ b/scripts/wt_node.py @@ -12,9 +12,9 @@ from math import * from geometry_msgs.msg import Twist from nav_msgs.msg import Odometry from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue +from dynamic_reconfigure.server import Server from sensor_msgs.msg import Imu, Range from wild_thumper.msg import LedStripe -from dynamic_reconfigure.server import Server from wild_thumper.cfg import WildThumperConfig WHEEL_DIST = 0.248 @@ -31,7 +31,7 @@ class LPD8806: self.update() def set(self, i, red=0, green=0, blue=0): - if red > 127 or green > 127 or blue >> 127 or red < 0 or green < 0 or blue < 0: + if red > 127 or green > 127 or blue > 127 or red < 0 or green < 0 or blue < 0: raise Exception("Bad RGB Value") self.l[i] = (red, green, blue) @@ -60,19 +60,21 @@ class MoveBase: self.dyn_conf = Server(WildThumperConfig, self.execute_dyn_reconf) 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_fwd_left = rospy.Publisher("range_forward_left", Range, queue_size=16) + self.pub_range_fwd_right = rospy.Publisher("range_forward_right", 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.cmd_vel = None + self.cur_vel = (0, 0) + 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): @@ -80,22 +82,35 @@ class MoveBase: sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag reset_val = self.get_reset() rospy.loginfo("Reset Status: 0x%x" % reset_val) - i = 0 + ir_count = 0 + sonar_count = 0 while not rospy.is_shutdown(): rospy.logdebug("Loop alive") #print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test self.get_motor_err() self.get_odom() self.get_voltage() - if i % 2: - self.get_dist_forward() + + if ir_count == 0: self.get_dist_left() + ir_count+=1 else: - self.get_dist_backward() self.get_dist_right() - i+=1 + ir_count=0 + + if sonar_count == 0: + self.get_dist_forward_left() + sonar_count+=1 + elif sonar_count == 1: + self.get_dist_backward() + sonar_count+=1 + elif sonar_count == 2: + self.get_dist_forward_right() + sonar_count=0 + if self.cmd_vel != None: self.set_speed(self.cmd_vel[0], self.cmd_vel[1]) + self.cur_vel = self.cmd_vel self.cmd_vel = None rate.sleep() @@ -104,25 +119,28 @@ class MoveBase: self.range_sensor_max = config["range_sensor_max"] self.odom_covar_xy = config["odom_covar_xy"] self.odom_covar_angle = config["odom_covar_angle"] - return config + 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 and any(self.cur_vel): + (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, 0x1, struct.pack(">hhhh", 0, self.rollover_protect_pwm, 0, self.rollover_protect_pwm)) + rospy.logwarn("Running forward rollver protection") + elif pitch < -self.rollover_protect_limit*pi/180: + self.bMotorManual = True + i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", -self.rollover_protect_pwm, 0, -self.rollover_protect_pwm, 0)) + rospy.logwarn("Running backward rollver protection") + elif self.bMotorManual: + i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, 0, 0, 0)) + self.bMotorManual = False + self.cmd_vel = (0, 0) + rospy.logwarn("Rollver protection done") def get_reset(self): reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0] @@ -236,9 +254,10 @@ 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: %.2f %.2f", 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): @@ -290,10 +309,10 @@ class MoveBase: if dist > 69: self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, 17.4/(dist - 69), 0.04, 0.3, 1) - def get_dist_forward(self): - if self.pub_range_fwd.get_num_connections() > 0: + def get_dist_forward_left(self): + if self.pub_range_fwd_left.get_num_connections() > 0: dist = self.read_dist_srf(0x15) - self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30) + self.send_range(self.pub_range_fwd_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30) self.start_dist_srf(0x5) # get next value def get_dist_backward(self): @@ -301,6 +320,12 @@ class MoveBase: dist = self.read_dist_srf(0x17) self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30) self.start_dist_srf(0x7) # get next value + + def get_dist_forward_right(self): + if self.pub_range_fwd_right.get_num_connections() > 0: + dist = self.read_dist_srf(0x19) + self.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30) + self.start_dist_srf(0xb) # get next value def led_stripe_received(self, msg): for led in msg.leds: