wt_node: no asynci2c access on cmd_vel
authorErik Andresen <erik@vontaene.de>
Wed, 23 Dec 2015 19:34:23 +0000 (20:34 +0100)
committerErik Andresen <erik@vontaene.de>
Wed, 23 Dec 2015 19:34:23 +0000 (20:34 +0100)
scripts/wt_node.py

index 2672fed..612d5e3 100755 (executable)
@@ -61,6 +61,7 @@ class MoveBase:
                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.cmd_vel = None
                self.set_speed(0, 0)
                rospy.loginfo("Init done")
                i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
@@ -88,9 +89,14 @@ class MoveBase:
                                self.get_dist_backward()
                                self.get_dist_right()
                        i+=1
+                       if self.cmd_vel != None:
+                               self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
+                               self.cmd_vel = None
                        rate.sleep()
 
        def set_motor_handicap(self, front, aft): # percent
+               if front > 100: front = 100
+               if aft > 100: aft = 100
                if self.handicap_last != (front, aft):
                        i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
                        self.handicap_last = (front, aft)
@@ -98,10 +104,10 @@ class MoveBase:
        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
+                       val = (100.0/60)*abs(pitch)*180/pi
                        self.set_motor_handicap(int(val), 0)
                elif pitch < -30*pi/180:
-                       val = (100.0/65)*abs(pitch)*180/pi
+                       val = (100.0/60)*abs(pitch)*180/pi
                        self.set_motor_handicap(0, int(val))
                else:
                        self.set_motor_handicap(0, 0)
@@ -167,8 +173,7 @@ class MoveBase:
 
 
        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
@@ -218,9 +223,7 @@ 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)
+               self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
 
        # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
        def get_dist_ir(self, num):