X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=bb6fbb02f0ef832f4c30da7dac25e0d767e60cd7;hp=5215d49ca5d3e7dd68fb751181f0fac9d8f197cd;hb=065571396c4327c12198fa8b368f7e17eb633861;hpb=1bb8d565837691d68b3d674463be10de3330c2da

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 5215d49..bb6fbb0 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -69,6 +69,7 @@ class MoveBase:
 		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)
@@ -100,12 +101,15 @@ class MoveBase:
 
 			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:
@@ -207,6 +211,10 @@ class MoveBase:
 		msg.status.append(stat)
 		self.pub_diag.publish(msg)
 
+		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))
@@ -234,9 +242,9 @@ 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
@@ -313,19 +321,28 @@ class MoveBase:
 		if self.pub_range_fwd_left.get_num_connections() > 0:
 			dist = self.read_dist_srf(0x15)
 			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 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)
-			self.start_dist_srf(0xb) # get next value
+
+	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: