X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=fcb20be43f2a8fd1795b19a66590a7c79ea70873;hp=b4bb8ebbf1e4671e347faacd16c088aad9c613fd;hb=d5421adc6fb7c85852a3b90b993742459ce03466;hpb=7407e894ef07408064eb1eeff0a4c4901dcd91f4

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index b4bb8eb..fcb20be 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -12,9 +12,9 @@ from math import *
 from geometry_msgs.msg import Twist
 from nav_msgs.msg import Odometry
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
+from dynamic_reconfigure.server import Server
 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
@@ -31,7 +31,7 @@ class LPD8806:
 		self.update()
 	
 	def set(self, i, red=0, green=0, blue=0):
-		if red > 127 or green > 127 or blue >> 127 or red < 0 or green < 0 or blue < 0:
+		if red > 127 or green > 127 or blue > 127 or red < 0 or green < 0 or blue < 0:
 			raise Exception("Bad RGB Value")
 		self.l[i] = (red, green, blue)
 
@@ -60,7 +60,8 @@ class MoveBase:
 		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)
@@ -81,20 +82,32 @@ class MoveBase:
 		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
+		ir_count = 0
+		sonar_count = 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()
 			self.get_voltage()
-			if i % 2:
-				self.get_dist_forward()
+
+			if ir_count == 0:
 				self.get_dist_left()
+				ir_count+=1
 			else:
-				self.get_dist_backward()
 				self.get_dist_right()
-			i+=1
+				ir_count=0
+
+			if sonar_count == 0:
+				self.get_dist_forward_left()
+				sonar_count+=1
+			elif sonar_count == 1:
+				self.get_dist_backward()
+				sonar_count+=1
+			elif sonar_count == 2:
+				self.get_dist_forward_right()
+				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
@@ -242,7 +255,7 @@ class MoveBase:
 
 	def cmdVelReceived(self, msg):
 		if not self.bMotorManual:
-			rospy.logdebug("Set new cmd_vel:", msg.linear.x, msg.angular.z)
+			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")
 
@@ -296,10 +309,10 @@ class MoveBase:
 			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(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, self.range_sensor_max, 30)
+			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 get_dist_backward(self):
@@ -307,6 +320,12 @@ class MoveBase:
 			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 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(0x9) # get next value
 	
 	def led_stripe_received(self, msg):
 		for led in msg.leds: