X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=bffabce5d178bb9fec2954587565c3363fa2fea3;hp=ee0aa41429f932d32b72884703840cca15913a10;hb=2f194b3fe82009a77b79021f0c57e6ca55c1706f;hpb=0ce791b21f3bb0557034f144c26a8e6aa86f508c

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index ee0aa41..bffabce 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -16,6 +16,7 @@ from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 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
@@ -36,8 +37,6 @@ class WTBase:
 		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)
@@ -47,6 +46,7 @@ class WTBase:
 		i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
 		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
@@ -58,7 +58,6 @@ class WTBase:
 		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)
-		ir_count = 0
 		sonar_count = 0
 		i2c_write_reg(0x50, 0xA4, struct.pack("B", 1)) # enable Watchdog
 		while not rospy.is_shutdown():
@@ -69,13 +68,6 @@ class WTBase:
 			self.get_odom()
 			self.get_power()
 
-			if ir_count == 0:
-				self.get_dist_left()
-				ir_count+=1
-			else:
-				self.get_dist_right()
-				ir_count=0
-
 			if sonar_count == 0:
 				self.get_dist_forward_left()
 				self.update_dist_backward()
@@ -311,18 +303,6 @@ class WTBase:
 		msg.range = dist
 		pub.publish(msg)
 
-	def get_dist_left(self):
-		if self.pub_range_left.get_num_connections() > 0:
-			dist = self.get_dist_ir(0x1)
-			if dist > -67:
-				self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, 30.553/(dist - -67.534), 0.04, 0.3, 1)
-
-	def get_dist_right(self):
-		if self.pub_range_right.get_num_connections() > 0:
-			dist = self.get_dist_ir(0x3)
-			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_left(self):
 		if self.pub_range_fwd_left.get_num_connections() > 0:
 			dist = self.read_dist_srf(0x15)
@@ -373,7 +353,11 @@ class WTBase:
 			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__":
 	WTBase()