X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=5fc2e2d53155630563bf342d12769c9d3861de27;hp=afef56a431be239d70bc28bb8f31804f6b4eb834;hb=15aaadf241ade6198ba479756c9b7049d17c826e;hpb=6f9283b6b41b8e5fcfd346170ba231c35e8b938c diff --git a/scripts/wt_node.py b/scripts/wt_node.py index afef56a..5fc2e2d 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 sensor_msgs.msg import Imu, Range -from wild_thumper.msg import LedStripe from dynamic_reconfigure.server import Server +from sensor_msgs.msg import Imu, Range, BatteryState +from wild_thumper.msg import LedStripe 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) @@ -60,13 +60,17 @@ 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.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) @@ -80,22 +84,38 @@ 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() + self.update_dist_backward() + sonar_count+=1 + elif sonar_count == 1: + self.get_dist_backward() + self.update_dist_forward_right() + sonar_count+=1 + elif sonar_count == 2: + self.get_dist_forward_right() + self.update_dist_forward_left() + 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() @@ -111,7 +131,7 @@ class MoveBase: return config def imuReceived(self, msg): - if self.rollover_protect: + 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 @@ -124,6 +144,7 @@ class MoveBase: 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): @@ -191,6 +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)) @@ -218,9 +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 @@ -239,7 +278,7 @@ class MoveBase: def cmdVelReceived(self, msg): if not self.bMotorManual: - rospy.logdebug("Set new cmd_vel:", msg.linear.x, msg.angular.z) + 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") @@ -293,17 +332,32 @@ 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.start_dist_srf(0x5) # get next value + self.send_range(self.pub_range_fwd_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30) + + def update_dist_forward_left(self): + if self.pub_range_fwd_left.get_num_connections() > 0: + self.start_dist_srf(0x5) def get_dist_backward(self): if self.pub_range_bwd.get_num_connections() > 0: 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 update_dist_backward(self): + if self.pub_range_bwd.get_num_connections() > 0: + self.start_dist_srf(0x7) + + 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) + + def update_dist_forward_right(self): + if self.pub_range_fwd_right.get_num_connections() > 0: + self.start_dist_srf(0xb) def led_stripe_received(self, msg): for led in msg.leds: