X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=7254c1d38ad4573961862f0af7850e87872d417b;hp=612d5e3663340e1ad6b916ad97db4242d80c019e;hb=14db607284e1f386fc7ded5cbee2c50da9928a47;hpb=77ea21053e11b7233b55257528f8bd44853273ec

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 612d5e3..7254c1d 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -14,6 +14,8 @@ 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 wild_thumper.cfg import WildThumperConfig
 
 WHEEL_DIST = 0.248
 
@@ -55,6 +57,7 @@ class MoveBase:
 			self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
 		else:
 			self.tf_broadcaster = None
+		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)
@@ -68,18 +71,20 @@ class MoveBase:
 		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("imu", Imu, self.imuReceived)
 		rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
 		self.run()
 	
 	def run(self):
 		rate = rospy.Rate(20.0)
+		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
 		while not rospy.is_shutdown():
+			rospy.logdebug("Loop alive")
 			#print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
-			self.get_tle_err()
+			self.get_motor_err()
 			self.get_odom()
 			self.get_voltage()
 			if i % 2:
@@ -94,6 +99,11 @@ class MoveBase:
 				self.cmd_vel = None
 			rate.sleep()
 
+	def execute_dyn_reconf(self, config, level):
+		self.bClipRangeSensor = config["range_sensor_clip"]
+		self.range_sensor_max = config["range_sensor_max"]
+		return config
+
 	def set_motor_handicap(self, front, aft): # percent
 		if front > 100: front = 100
 		if aft > 100: aft = 100
@@ -140,7 +150,7 @@ class MoveBase:
 		return reset
 
 
-	def get_tle_err(self):
+	def get_motor_err(self):
 		err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
 		
 		msg = DiagnosticArray()
@@ -150,10 +160,16 @@ class MoveBase:
 		stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
 		stat.message = "0x%02x" % err
 
-		stat.values.append(KeyValue("aft left", str(bool(err & (1 << 0)))))
-		stat.values.append(KeyValue("front left", str(bool(err & (1 << 1)))))
-		stat.values.append(KeyValue("front right", str(bool(err & (1 << 2)))))
-		stat.values.append(KeyValue("aft right", str(bool(err & (1 << 3)))))
+		# Diag
+		stat.values.append(KeyValue("aft left diag", str(bool(err & (1 << 0)))))
+		stat.values.append(KeyValue("front left diag", str(bool(err & (1 << 1)))))
+		stat.values.append(KeyValue("aft right diag", str(bool(err & (1 << 2)))))
+		stat.values.append(KeyValue("front right diag", str(bool(err & (1 << 3)))))
+		# Stall
+		stat.values.append(KeyValue("aft left stall", str(bool(err & (1 << 4)))))
+		stat.values.append(KeyValue("front left stall", str(bool(err & (1 << 5)))))
+		stat.values.append(KeyValue("aft right stall", str(bool(err & (1 << 6)))))
+		stat.values.append(KeyValue("front right stall", str(bool(err & (1 << 7)))))
 
 		msg.status.append(stat)
 		self.pub_diag.publish(msg)
@@ -223,7 +239,9 @@ 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")
 
 	# http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
 	def get_dist_ir(self, num):
@@ -251,6 +269,8 @@ class MoveBase:
 		return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0
 
 	def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
+		if self.bClipRangeSensor and dist > max_range:
+			dist = max_range
 		msg = Range()
 		msg.header.stamp = rospy.Time.now()
 		msg.header.frame_id = frame_id
@@ -276,13 +296,13 @@ class MoveBase:
 	def get_dist_forward(self):
 		if self.pub_range_fwd.get_num_connections() > 0:
 			dist = self.read_dist_srf(0x15)
-			self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 40)
+			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
 
 	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, 6, 40)
+			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 led_stripe_received(self, msg):