X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=781acfa593abd636ffb8d9d339026462c62da9d1;hp=3d1c972ea43a6eaf3c0bef5e4e2ad390f847b8e4;hb=69de58605413a7ab335413874ff9dd89f2b6e21a;hpb=8786ef14dfb5b65efa0a260d91e569aa819aac14

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 3d1c972..781acfa 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)
@@ -68,8 +71,8 @@ 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("led_stripe", LedStripe, self.led_stripe_received)
+		rospy.Subscriber("imu", Imu, self.imuReceived)
 		self.run()
 	
 	def run(self):
@@ -79,6 +82,7 @@ class MoveBase:
 		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_motor_err()
 			self.get_odom()
@@ -95,6 +99,20 @@ 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"]
+		self.odom_covar_xy = config["odom_covar_xy"]
+		self.odom_covar_angle = config["odom_covar_angle"]
+		self.pitch_handicap_enable = config["pitch_handicap_enable"]
+		self.pitch_handicap_limit = config["pitch_handicap_limit"]
+		self.pitch_handicap_strength = 100-config["pitch_handicap_strength"]
+
+		if not self.pitch_handicap_enable:
+			self.set_motor_handicap(0, 0)
+
+		return config
+
 	def set_motor_handicap(self, front, aft): # percent
 		if front > 100: front = 100
 		if aft > 100: aft = 100
@@ -103,15 +121,16 @@ class MoveBase:
 			self.handicap_last = (front, aft)
 
 	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.pitch_handicap_enable:
+			(roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
+			if pitch > self.pitch_handicap_limit*pi/180:
+				val = (100.0/self.pitch_handicap_strength)*abs(pitch)*180/pi
+				self.set_motor_handicap(int(val), 0)
+			elif pitch < -self.pitch_handicap_limit*pi/180:
+				val = (100.0/self.pitch_handicap_strength)*abs(pitch)*180/pi
+				self.set_motor_handicap(0, int(val))
+			else:
+				self.set_motor_handicap(0, 0)
 
 	def get_reset(self):
 		reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
@@ -203,24 +222,19 @@ 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)
@@ -230,7 +244,9 @@ 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):
@@ -258,6 +274,8 @@ 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
@@ -283,13 +301,13 @@ 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):