X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=bffabce5d178bb9fec2954587565c3363fa2fea3;hp=5056107206766930273850efc4dc6a8ce579a222;hb=2f194b3fe82009a77b79021f0c57e6ca55c1706f;hpb=2ee98f31c1f2527cdb4e190e37d9f6ad9e246859 diff --git a/scripts/wt_node.py b/scripts/wt_node.py index 5056107..bffabce 100755 --- a/scripts/wt_node.py +++ b/scripts/wt_node.py @@ -4,73 +4,120 @@ import rospy import tf import struct +import thread import prctl -from i2c import * +import spidev +from time import sleep +from i2c import i2c, i2c_write_reg, i2c_read_reg 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 dynamic_reconfigure.server import Server +from sensor_msgs.msg import Imu, Range, BatteryState +from wild_thumper.cfg import WildThumperConfig +from std_srvs.srv import SetBool, SetBoolResponse WHEEL_DIST = 0.248 +BATTERY_CAPACITY_FULL = 2.750 # Ah, NiMH=2.750, LiFePO4=3.100 +UPDATE_RATE = 20.0 -class MoveBase: +class WTBase: def __init__(self): rospy.init_node('wild_thumper') prctl.set_name("wild_thumper") - rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived) - rospy.Subscriber("imu", Imu, self.imuReceived) enable_odom_tf = rospy.get_param("~enable_odom_tf", True) if enable_odom_tf: 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) + 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) - rospy.loginfo("Init done") + self.volt_last_warn = rospy.Time.now() i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction - self.handicap_last = (-1, -1) + rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived) + rospy.Subscriber("imu", Imu, self.imuReceived) + rospy.Service('~manipulator_enable', SetBool, self.enableManipulator) + self.bDocked = False + self.bDocked_last = False + self.battery_capacity = BATTERY_CAPACITY_FULL*3600 # As + rospy.loginfo("Init done") self.run() def run(self): - rate = rospy.Rate(20.0) + rate = rospy.Rate(UPDATE_RATE) + 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 + sonar_count = 0 + i2c_write_reg(0x50, 0xA4, struct.pack("B", 1)) # enable Watchdog while not rospy.is_shutdown(): + rospy.logdebug("Loop alive") + #print "Watchdog", struct.unpack(">B", i2c_read_reg(0x50, 0xA4, 1))[0] #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: - self.get_dist_forward() - self.get_dist_left() - else: + self.get_power() + + 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.get_dist_right() - i+=1 + 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 + + self.check_docked() rate.sleep() - def set_motor_handicap(self, front, aft): # percent - if self.handicap_last != (front, aft): - i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft)) - self.handicap_last = (front, aft) + def execute_dyn_reconf(self, config, level): + self.bClipRangeSensor = config["range_sensor_clip"] + self.range_sensor_max = config["range_sensor_max"] + self.range_sensor_fov = config["range_sensor_fov"] + self.odom_covar_xy = config["odom_covar_xy"] + self.odom_covar_angle = config["odom_covar_angle"] + self.rollover_protect = config["rollover_protect"] + self.rollover_protect_limit = config["rollover_protect_limit"] + self.rollover_protect_pwm = config["rollover_protect_pwm"] + self.bStayDocked = config["stay_docked"] + + return config def imuReceived(self, msg): - (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__()) - if pitch > 30*pi/180: - val = (100.0/65)*abs(pitch)*180/pi - self.set_motor_handicap(int(val), 0) - elif pitch < -30*pi/180: - val = (100.0/65)*abs(pitch)*180/pi - self.set_motor_handicap(0, int(val)) - else: - self.set_motor_handicap(0, 0) + if self.rollover_protect and (any(self.cur_vel) or self.bMotorManual): + (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__()) + if pitch > self.rollover_protect_limit*pi/180: + self.bMotorManual = True + i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", 0, self.rollover_protect_pwm, 0, self.rollover_protect_pwm)) + rospy.logwarn("Running forward rollver protection") + elif pitch < -self.rollover_protect_limit*pi/180: + self.bMotorManual = True + i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", -self.rollover_protect_pwm, 0, -self.rollover_protect_pwm, 0)) + rospy.logwarn("Running backward rollver protection") + 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): reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0] @@ -82,17 +129,25 @@ class MoveBase: stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK stat.message = "0x%02x" % reset - stat.values.append(KeyValue("Watchdog Reset Flag", str(bool(reset & (1 << 3))))) - stat.values.append(KeyValue("Brown-out Reset Flag", str(bool(reset & (1 << 2))))) - stat.values.append(KeyValue("External Reset Flag", str(bool(reset & (1 << 1))))) - stat.values.append(KeyValue("Power-on Reset Flag", str(bool(reset & (1 << 0))))) + wdrf = bool(reset & (1 << 3)) + if wdrf: rospy.loginfo("Watchdog Reset") + borf = bool(reset & (1 << 2)) + if borf: rospy.loginfo("Brown-out Reset Flag") + extrf = bool(reset & (1 << 1)) + if extrf: rospy.loginfo("External Reset Flag") + porf = bool(reset & (1 << 0)) + if porf: rospy.loginfo("Power-on Reset Flag") + stat.values.append(KeyValue("Watchdog Reset Flag", str(wdrf))) + stat.values.append(KeyValue("Brown-out Reset Flag", str(borf))) + stat.values.append(KeyValue("External Reset Flag", str(extrf))) + stat.values.append(KeyValue("Power-on Reset Flag", str(porf))) msg.status.append(stat) self.pub_diag.publish(msg) 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() @@ -102,31 +157,64 @@ 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) - def get_voltage(self): + def get_power(self): volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0 + current = struct.unpack(">h", i2c_read_reg(0x52, 0x0D, 2))[0]/1000.0 msg = DiagnosticArray() msg.header.stamp = rospy.Time.now() stat = DiagnosticStatus() - stat.name = "Voltage" - stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK - stat.message = "%.2fV" % volt + stat.name = "Power" + stat.level = DiagnosticStatus.ERROR if volt < 7 or current > 5 else DiagnosticStatus.OK + stat.message = "%.2fV, %.2fA" % (volt, current) 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() + + self.bDocked = volt > 10.1 + self.update_capacity(volt, current) + + if self.pub_battery.get_num_connections() > 0: + batmsg = BatteryState() + batmsg.header.stamp = rospy.Time.now() + batmsg.voltage = volt + batmsg.current = current + batmsg.charge = self.battery_capacity/3600.0 + batmsg.capacity = float('nan') + batmsg.design_capacity = BATTERY_CAPACITY_FULL + batmsg.percentage = batmsg.charge/batmsg.design_capacity + 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 + batmsg.present = True + self.pub_battery.publish(batmsg) + + def update_capacity(self, volt, current): + if self.bDocked: + self.battery_capacity = BATTERY_CAPACITY_FULL*3600 + else: + self.battery_capacity -= current/UPDATE_RATE def get_odom(self): - posx, posy, angle = struct.unpack(">fff", i2c_read_reg(0x50, 0x40, 12)) - speed_trans, speed_rot = struct.unpack(">ff", i2c_read_reg(0x50, 0x38, 8)) + speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20)) current_time = rospy.Time.now() # since all odometry is 6DOF we'll need a quaternion created from yaw @@ -149,24 +237,20 @@ 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] = 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 odom.child_frame_id = "base_footprint" odom.twist.twist.linear.x = speed_trans odom.twist.twist.linear.y = 0.0 + odom.twist.twist.linear.z = 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) @@ -176,9 +260,10 @@ class MoveBase: i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot)) def cmdVelReceived(self, msg): - trans = msg.linear.x - rot = msg.angular.z # rad/s - self.set_speed(trans, rot) + if not self.bMotorManual: + 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") # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12 def get_dist_ir(self, num): @@ -203,18 +288,11 @@ class MoveBase: dev.close() def read_dist_srf(self, num): - dev = i2c(0x52) - s = struct.pack("B", num) - dev.write(s) - dev.close() - - dev = i2c(0x52) - s = dev.read(2) - dev.close() - - return struct.unpack(">H", s)[0]/1000.0 + 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 @@ -225,28 +303,61 @@ class MoveBase: msg.range = dist pub.publish(msg) - def get_dist_left(self): - if self.pub_range_left.get_num_connections() > 0: - dist = 30.553/(self.get_dist_ir(0x1) - -67.534) - self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.04, 0.3, 1) - - def get_dist_right(self): - if self.pub_range_right.get_num_connections() > 0: - dist = 17.4/(self.get_dist_ir(0x3) - 69) - self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, dist, 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, 6, 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, self.range_sensor_fov) + + 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, 6, 30) - self.start_dist_srf(0x7) # get next value - + self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, self.range_sensor_fov) + + 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, self.range_sensor_fov) + + def update_dist_forward_right(self): + if self.pub_range_fwd_right.get_num_connections() > 0: + self.start_dist_srf(0xb) + + def check_docked(self): + if self.bDocked and not self.bDocked_last: + rospy.loginfo("Docking event") + elif not self.bDocked and self.bDocked_last: + if not self.bStayDocked or self.cur_vel != (0, 0): + rospy.loginfo("Undocking event") + else: + rospy.loginfo("Undocking event..redocking") + thread.start_new_thread(self.redock, ()) + + self.bDocked_last = self.bDocked + + def redock(self): + self.cmd_vel = (-0.1, 0) + for i in range(100): + if self.bDocked: + break + sleep(0.01) + self.cmd_vel = (0, 0) + if self.bDocked: + rospy.loginfo("Redocking done") + else: + rospy.logerr("Redocking failed") + + def enableManipulator(self, msg): + rospy.loginfo("Set Manipulator: %d", msg.data) + i2c_write_reg(0x52, 0x0f, chr(msg.data)) + return SetBoolResponse(True, "") if __name__ == "__main__": - MoveBase() + WTBase()