added rgb stripes

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5369f92db5e3cc2c90508d71fce5f40bac491f6d..2e21cc7e285fe803765f4fe467e2ca16e7e12dfd 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,7 +4,7 @@ project(wild_thumper)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages

-find_package(catkin REQUIRED sensor_msgs cv_bridge roscpp std_msgs image_transport dynamic_reconfigure)
+find_package(catkin REQUIRED sensor_msgs cv_bridge roscpp std_msgs image_transport dynamic_reconfigure message_generation)

 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)


@@ -40,11 +40,11 @@ find_package(catkin REQUIRED sensor_msgs cv_bridge roscpp std_msgs image_transpo
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder

-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
+add_message_files(
+  FILES
+  LedStripe.msg
+  Led.msg
+)

 
 ## Generate services in the 'srv' folder
 # add_service_files(
 
 ## Generate services in the 'srv' folder
 # add_service_files(


@@ -61,10 +61,10 @@ find_package(catkin REQUIRED sensor_msgs cv_bridge roscpp std_msgs image_transpo
 # )
 
 ## Generate added messages and services with any dependencies listed here
 # )
 
 ## Generate added messages and services with any dependencies listed here

-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
+generate_messages(
+  DEPENDENCIES
+  std_msgs  # Or other packages containing msgs
+)

 
 generate_dynamic_reconfigure_options(
   cfg/path_following.cfg
 
 generate_dynamic_reconfigure_options(
   cfg/path_following.cfg


@@ -84,6 +84,7 @@ catkin_package(
 #  LIBRARIES wild_thumper
 #   CATKIN_DEPENDS sensor_msgs
 #  DEPENDS system_lib
 #  LIBRARIES wild_thumper
 #   CATKIN_DEPENDS sensor_msgs
 #  DEPENDS system_lib

+   CATKIN_DEPENDS message_runtime

 )
 
 ###########
 )
 
 ###########

diff --git a/msg/Led.msg b/msg/Led.msg
new file mode 100644 (file)
index 0000000..ec2b24d
--- /dev/null
+++ b/msg/Led.msg
@@ -0,0 +1,4 @@
+int32 num
+int32 red
+int32 green
+int32 blue

diff --git a/msg/LedStripe.msg b/msg/LedStripe.msg
new file mode 100644 (file)
index 0000000..422f680
--- /dev/null
+++ b/msg/LedStripe.msg
@@ -0,0 +1 @@
+Led[] leds

diff --git a/package.xml b/package.xml
index 2093ebd90d423c7f0ab2af3eb5c8f9425aa57fd8..0bf3ca247444bd81ef006c76950717ef77c1cddb 100644 (file)
--- a/package.xml
+++ b/package.xml
@@ -46,9 +46,11 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>openni2_camera</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>openni2_camera</build_depend>

+  <build_depend>message_generation</build_depend>

   <run_depend>hector_sensors_description</run_depend>
   <run_depend>openni2_launch</run_depend>
   <run_depend>depthimage_to_laserscan</run_depend>
   <run_depend>hector_sensors_description</run_depend>
   <run_depend>openni2_launch</run_depend>
   <run_depend>depthimage_to_laserscan</run_depend>

+  <run_depend>message_runtime</run_depend>

 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

diff --git a/scripts/christmas.py b/scripts/christmas.py
new file mode 100755 (executable)
index 0000000..6c53dce
--- /dev/null
+++ b/scripts/christmas.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+# -*- coding: iso-8859-15 -*-
+
+import rospy
+from random import *
+from wild_thumper.msg import LedStripe, Led
+from time import sleep
+
+max_val = 10
+
+if __name__ == "__main__":
+       rospy.init_node('christmas')
+       pub = rospy.Publisher('led_stripe', LedStripe, queue_size=10)
+       rate = rospy.Rate(2)
+       while not rospy.is_shutdown():
+               msg = LedStripe()
+               msg.leds = [
+                               Led(4, randint(0, max_val), randint(0, max_val), randint(0, max_val)),
+                               Led(5, randint(0, max_val), randint(0, max_val), randint(0, max_val)),
+                               Led(6, randint(0, max_val), randint(0, max_val), randint(0, max_val)),
+                               Led(7, randint(0, max_val), randint(0, max_val), randint(0, max_val))
+                               ]
+               pub.publish(msg)
+               rate.sleep()

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index dcae6740c02b7fa35e07eb7416f75293cc0819eb..96d0db6f46532b78e7ed8ce16e458c279485e8bb 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -5,21 +5,50 @@ import rospy
 import tf
 import struct
 import prctl
 import tf
 import struct
 import prctl

+import spidev

 from i2c import *
 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 i2c import *
 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 wild_thumper.msg import LedStripe

 
 WHEEL_DIST = 0.248
 
 
 WHEEL_DIST = 0.248
 

+class LPD8806:
+       def __init__(self, bus, device, num_leds):
+               self.spi = spidev.SpiDev()
+               self.spi.open(bus, device)
+               self.spi.mode=0b00
+               self.spi.max_speed_hz=int(2e6)
+               self.num_leds = num_leds
+               self.latch()
+               self.l = [(0, 0, 0)] * num_leds
+               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:
+                       raise Exception("Bad RGB Value")
+               self.l[i] = (red, green, blue)
+
+       def latch(self):
+               self.spi.writebytes([0x0 for i in range((self.num_leds+31)/32)])
+       
+       def update(self):
+               l = []
+               for i in range(self.num_leds):
+                       red, green, blue = self.l[i]
+                       l.append(0x80 | green)
+                       l.append(0x80 | red)
+                       l.append(0x80 | blue)
+               self.spi.writebytes(l)
+               self.latch()
+

 class MoveBase:
        def __init__(self):
                rospy.init_node('wild_thumper')
                prctl.set_name("wild_thumper")
 class MoveBase:
        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()
                enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
                if enable_odom_tf:
                        self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()


@@ -35,6 +64,10 @@ class MoveBase:
                rospy.loginfo("Init done")
                i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
                self.handicap_last = (-1, -1)
                rospy.loginfo("Init done")
                i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
                self.handicap_last = (-1, -1)

+               self.pStripe = LPD8806(1, 0, 12)
+               rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
+               rospy.Subscriber("imu", Imu, self.imuReceived)
+               rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)

                self.run()
        
        def run(self):
                self.run()
        
        def run(self):


@@ -246,6 +279,11 @@ class MoveBase:
                        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
                        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

+       
+       def led_stripe_received(self, msg):
+               for led in msg.leds:
+                       self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
+                       self.pStripe.update()

                
 
 if __name__ == "__main__":
                
 
 if __name__ == "__main__":