X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=dcae6740c02b7fa35e07eb7416f75293cc0819eb;hp=72c04123a4428cf4bd4c7e362ff7a0ed6cc2c806;hb=fb692fdbf76fda0e13adb284b6ccd09cb3fa7afb;hpb=860e5f83d540d60b46f4a0f242f007dfd1c0747d

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 72c0412..dcae674 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -4,6 +4,7 @@
 import rospy
 import tf
 import struct
+import prctl
 from i2c import *
 from math import *
 from geometry_msgs.msg import Twist
@@ -16,7 +17,8 @@ WHEEL_DIST = 0.248
 class MoveBase:
 	def __init__(self):
 		rospy.init_node('wild_thumper')
-		rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
+		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:
@@ -39,15 +41,19 @@ class MoveBase:
 		rate = rospy.Rate(20.0)
 		reset_val = self.get_reset()
 		rospy.loginfo("Reset Status: 0x%x" % reset_val)
+		i = 0
 		while not rospy.is_shutdown():
 			#print struct.unpack(">B", i2c_read_reg(0x50, 0xA2, 1))[0] # count test
 			self.get_tle_err()
 			self.get_odom()
 			self.get_voltage()
-			self.get_dist_forward()
-			self.get_dist_backward()
-			self.get_dist_left()
-			self.get_dist_right()
+			if i % 2:
+				self.get_dist_forward()
+				self.get_dist_left()
+			else:
+				self.get_dist_backward()
+				self.get_dist_right()
+			i+=1
 			rate.sleep()
 
 	def set_motor_handicap(self, front, aft): # percent
@@ -59,10 +65,10 @@ class MoveBase:
 		(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(0, int(val))
+			self.set_motor_handicap(int(val), 0)
 		elif pitch < -30*pi/180:
 			val = (100.0/65)*abs(pitch)*180/pi
-			self.set_motor_handicap(int(val), 0)
+			self.set_motor_handicap(0, int(val))
 		else:
 			self.set_motor_handicap(0, 0)
 
@@ -148,7 +154,7 @@ class MoveBase:
 		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] = 0.1 # rotation about Z axis
+		odom.pose.covariance[35] = 0.03 # rotation about Z axis
 
 		# set the velocity
 		odom.child_frame_id = "base_footprint"
@@ -160,7 +166,7 @@ class MoveBase:
 		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] = 0.1 # rotation about Z axis
+		odom.twist.covariance[35] = 0.03 # rotation about Z axis
 
 		# publish the message
 		self.pub_odom.publish(odom)
@@ -190,13 +196,17 @@ class MoveBase:
 		val = struct.unpack(">H", s)[0]
 		return val
 	
-	def get_dist_srf(self, num):
+	def start_dist_srf(self, num):
 		dev = i2c(0x52)
 		s = struct.pack("B", num)
 		dev.write(s)
 		dev.close()
 
-		sleep(50e-3)
+	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)
@@ -218,22 +228,24 @@ class MoveBase:
 	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, 5)
+			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, 5)
+			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:
-			dist = self.get_dist_srf(0x5)
-			self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 60)
+			dist = self.read_dist_srf(0x15)
+			self.send_range(self.pub_range_fwd, "sonar_forward", Range.ULTRASOUND, dist, 0.04, 6, 40)
+			self.start_dist_srf(0x5) # get next value
 
 	def get_dist_backward(self):
 		if self.pub_range_bwd.get_num_connections() > 0:
-			dist = self.get_dist_srf(0x7)
-			self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 60)
+			dist = self.read_dist_srf(0x17)
+			self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 40)
+			self.start_dist_srf(0x7) # get next value
 		
 
 if __name__ == "__main__":