X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=5fc2e2d53155630563bf342d12769c9d3861de27;hp=1549ea6f7aad56b906c7ad18321dd5857fadd882;hb=4679643eca8f2ba0fb228bf8d0af0c9d0076624c;hpb=54a59e74352041bdda72f2eea2cab24683f0e16a

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 1549ea6..5fc2e2d 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -13,7 +13,7 @@ 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 sensor_msgs.msg import Imu, Range, BatteryState
 from wild_thumper.msg import LedStripe
 from wild_thumper.cfg import WildThumperConfig
 
@@ -65,10 +65,12 @@ class MoveBase:
 		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.pub_battery = rospy.Publisher("battery", BatteryState, queue_size=16)
 		self.cmd_vel = None
 		self.cur_vel = (0, 0)
 		self.bMotorManual = False
 		self.set_speed(0, 0)
+		self.volt_last_warn = rospy.Time.now()
 		rospy.loginfo("Init done")
 		i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
 		self.pStripe = LPD8806(1, 0, 12)
@@ -210,6 +212,24 @@ class MoveBase:
 		msg.status.append(stat)
 		self.pub_diag.publish(msg)
 
+		if self.pub_battery.get_num_connections() > 0:
+			batmsg = BatteryState()
+			batmsg.header.stamp = rospy.Time.now()
+			batmsg.voltage = volt
+			batmsg.current = float('nan')
+			batmsg.charge = float('nan')
+			batmsg.capacity = float('nan')
+			batmsg.design_capacity = 5.0
+			batmsg.percentage = float('nan')
+			batmsg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING
+			batmsg.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_UNKNOWN
+			batmsg.power_supply_technology = BatteryState.POWER_SUPPLY_TECHNOLOGY_NIMH
+			self.pub_battery.publish(batmsg)
+
+		if volt < 7 and (rospy.Time.now() - self.volt_last_warn).to_sec() > 10:
+			rospy.logerr("Voltage critical: %.2fV" % (volt))
+			self.volt_last_warn = rospy.Time.now()
+
 
 	def get_odom(self):
 		speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
@@ -237,9 +257,9 @@ class MoveBase:
 		odom.pose.pose.orientation.w = odom_quat[3]
 		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[14] = self.odom_covar_xy # z
+		odom.pose.covariance[21] = self.odom_covar_angle # rotation about X axis
+		odom.pose.covariance[28] = self.odom_covar_angle # rotation about Y axis
 		odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
 
 		# set the velocity