Merge branch 'master' of ssh://vontaene/home/erik_alt/git/ros_wild_thumper
authorErik Andresen <erik@vontaene.de>
Sat, 11 Jul 2015 17:47:48 +0000 (19:47 +0200)
committerErik Andresen <erik@vontaene.de>
Sat, 11 Jul 2015 17:47:48 +0000 (19:47 +0200)
launch/3dsensor.launch
launch/wild_thumper.launch
scripts/move_base.py [deleted file]
scripts/wt_node.py [new file with mode: 0755]

index 8276bb6..61f622a 100644 (file)
@@ -7,7 +7,7 @@
        </include>
 
        <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet /camera/camera_nodelet_manager" output="screen">
-               <remap from="/camera/image" to="/camera/depth/image_raw"/>
+               <remap from="/camera/image" to="/camera/depth/image"/>
                <remap from="/camera/scan" to="/scan"/>
        </node>
 </launch>
index fbd17ec..b0aa2ea 100644 (file)
@@ -1,5 +1,7 @@
 <?xml version="1.0"?>
 <launch>
+       <arg name="use_imu" default="true" />
+
        <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
 
        <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
                <rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml" />
        </node>
 
-       <node pkg="wild_thumper" type="move_base.py" name="move_base" output="screen" respawn="true">
-               <param name="enable_odom_tf" value="false" />
+       <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="true">
+               <param name="enable_odom_tf" value="true" unless="$(arg use_imu)" />
+               <param name="enable_odom_tf" value="false" if="$(arg use_imu)" />
        </node>
 
-       <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen">
+       <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen" if="$(arg use_imu)">
                <rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
        </node>
 
-       <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
+       <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
                <remap from="imu_data" to="imu"/>
+               <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
                <param name="output_frame" value="odom"/>
                <param name="freq" value="20.0"/>
                <param name="vo_used" value="false"/>
diff --git a/scripts/move_base.py b/scripts/move_base.py
deleted file mode 100755 (executable)
index 0d68ce9..0000000
+++ /dev/null
@@ -1,240 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: iso-8859-15 -*-
-
-import rospy
-import tf
-import struct
-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
-
-WHEEL_DIST = 0.248
-
-class MoveBase:
-       def __init__(self):
-               rospy.init_node('wild_thumper_move_base')
-               rospy.Subscriber("cmd_vel", 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()
-               else:
-                       self.tf_broadcaster = None
-               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_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.set_speed(0, 0)
-               rospy.loginfo("Init done")
-               i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
-               self.handicap_last = (-1, -1)
-               self.run()
-       
-       def run(self):
-               rate = rospy.Rate(20.0)
-               reset_val = self.get_reset()
-               rospy.loginfo("Reset Status: 0x%x" % reset_val)
-               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()
-                       rate.sleep()
-
-       def set_motor_handicap(self, front, aft): # percent
-               if self.handicap_last != (front, aft):
-                       i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
-                       self.handicap_last = (front, aft)
-
-       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
-                       self.set_motor_handicap(0, int(val))
-               elif pitch < -30*pi/180:
-                       val = (100.0/65)*abs(pitch)*180/pi
-                       self.set_motor_handicap(int(val), 0)
-               else:
-                       self.set_motor_handicap(0, 0)
-
-       def get_reset(self):
-               reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
-
-               msg = DiagnosticArray()
-               msg.header.stamp = rospy.Time.now()
-               stat = DiagnosticStatus()
-               stat.name = "Reset reason"
-               stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
-               stat.message = "0x%02x" % reset
-
-               stat.values.append(KeyValue("Watchdog Reset Flag", str(bool(reset & (1 << 3)))))
-               stat.values.append(KeyValue("Brown-out Reset Flag", str(bool(reset & (1 << 2)))))
-               stat.values.append(KeyValue("External Reset Flag", str(bool(reset & (1 << 1)))))
-               stat.values.append(KeyValue("Power-on Reset Flag", str(bool(reset & (1 << 0)))))
-
-               msg.status.append(stat)
-               self.pub_diag.publish(msg)
-               return reset
-
-
-       def get_tle_err(self):
-               err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
-               
-               msg = DiagnosticArray()
-               msg.header.stamp = rospy.Time.now()
-               stat = DiagnosticStatus()
-               stat.name = "Motor: Error Status"
-               stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
-               stat.message = "0x%02x" % err
-
-               stat.values.append(KeyValue("aft left", str(bool(err & (1 << 0)))))
-               stat.values.append(KeyValue("front left", str(bool(err & (1 << 1)))))
-               stat.values.append(KeyValue("front right", str(bool(err & (1 << 2)))))
-               stat.values.append(KeyValue("aft right", str(bool(err & (1 << 3)))))
-
-               msg.status.append(stat)
-               self.pub_diag.publish(msg)
-       
-       def get_voltage(self):
-               volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
-
-               msg = DiagnosticArray()
-               msg.header.stamp = rospy.Time.now()
-               stat = DiagnosticStatus()
-               stat.name = "Voltage"
-               stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
-               stat.message = "%.2fV" % volt
-
-               msg.status.append(stat)
-               self.pub_diag.publish(msg)
-
-
-       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))
-               current_time = rospy.Time.now()
-
-               # since all odometry is 6DOF we'll need a quaternion created from yaw
-               odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
-
-               # first, we'll publish the transform over tf
-               if self.tf_broadcaster is not None:
-                       self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
-
-               # next, we'll publish the odometry message over ROS
-               odom = Odometry()
-               odom.header.stamp = current_time
-               odom.header.frame_id = "/odom"
-
-               # set the position
-               odom.pose.pose.position.x = posx
-               odom.pose.pose.position.y = posy
-               odom.pose.pose.position.z = 0.0
-               odom.pose.pose.orientation.x = odom_quat[0]
-               odom.pose.pose.orientation.y = odom_quat[1]
-               odom.pose.pose.orientation.z = odom_quat[2]
-               odom.pose.pose.orientation.w = odom_quat[3]
-               odom.pose.covariance[0] = 1e-3 # x
-               odom.pose.covariance[7] = 1e-3 # y
-               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
-
-               # set the velocity
-               odom.child_frame_id = "base_footprint"
-               odom.twist.twist.linear.x = speed_trans
-               odom.twist.twist.linear.y = 0.0
-               odom.twist.twist.angular.z = speed_rot
-               odom.twist.covariance[0] = 1e-3 # x
-               odom.twist.covariance[7] = 1e-3 # y
-               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
-
-               # publish the message
-               self.pub_odom.publish(odom)
-
-       
-       def set_speed(self, trans, rot):
-               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)
-
-       # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
-       def get_dist_ir(self, num):
-               dev = i2c(0x52)
-               s = struct.pack("B", num)
-               dev.write(s)
-               dev.close()
-
-               sleep(2e-6)
-
-               dev = i2c(0x52)
-               s = dev.read(2)
-               dev.close()
-
-               val = struct.unpack(">H", s)[0]
-               return val
-       
-       def get_dist_srf(self, num):
-               dev = i2c(0x52)
-               s = struct.pack("B", num)
-               dev.write(s)
-               dev.close()
-
-               sleep(50e-3)
-
-               dev = i2c(0x52)
-               s = dev.read(2)
-               dev.close()
-
-               return struct.unpack(">H", s)[0]/1000.0
-
-       def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
-               msg = Range()
-               msg.header.stamp = rospy.Time.now()
-               msg.header.frame_id = frame_id
-               msg.radiation_type = typ
-               msg.field_of_view = fov_deg*pi/180
-               msg.min_range = min_range
-               msg.max_range = max_range
-               msg.range = dist
-               pub.publish(msg)
-
-       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)
-
-       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)
-
-       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)
-
-       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)
-               
-
-if __name__ == "__main__":
-       MoveBase()
diff --git a/scripts/wt_node.py b/scripts/wt_node.py
new file mode 100755 (executable)
index 0000000..72c0412
--- /dev/null
@@ -0,0 +1,240 @@
+#!/usr/bin/env python
+# -*- coding: iso-8859-15 -*-
+
+import rospy
+import tf
+import struct
+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
+
+WHEEL_DIST = 0.248
+
+class MoveBase:
+       def __init__(self):
+               rospy.init_node('wild_thumper')
+               rospy.Subscriber("cmd_vel", 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()
+               else:
+                       self.tf_broadcaster = None
+               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_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.set_speed(0, 0)
+               rospy.loginfo("Init done")
+               i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
+               self.handicap_last = (-1, -1)
+               self.run()
+       
+       def run(self):
+               rate = rospy.Rate(20.0)
+               reset_val = self.get_reset()
+               rospy.loginfo("Reset Status: 0x%x" % reset_val)
+               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()
+                       rate.sleep()
+
+       def set_motor_handicap(self, front, aft): # percent
+               if self.handicap_last != (front, aft):
+                       i2c_write_reg(0x50, 0x94, struct.pack(">bb", front, aft))
+                       self.handicap_last = (front, aft)
+
+       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
+                       self.set_motor_handicap(0, int(val))
+               elif pitch < -30*pi/180:
+                       val = (100.0/65)*abs(pitch)*180/pi
+                       self.set_motor_handicap(int(val), 0)
+               else:
+                       self.set_motor_handicap(0, 0)
+
+       def get_reset(self):
+               reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
+
+               msg = DiagnosticArray()
+               msg.header.stamp = rospy.Time.now()
+               stat = DiagnosticStatus()
+               stat.name = "Reset reason"
+               stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
+               stat.message = "0x%02x" % reset
+
+               stat.values.append(KeyValue("Watchdog Reset Flag", str(bool(reset & (1 << 3)))))
+               stat.values.append(KeyValue("Brown-out Reset Flag", str(bool(reset & (1 << 2)))))
+               stat.values.append(KeyValue("External Reset Flag", str(bool(reset & (1 << 1)))))
+               stat.values.append(KeyValue("Power-on Reset Flag", str(bool(reset & (1 << 0)))))
+
+               msg.status.append(stat)
+               self.pub_diag.publish(msg)
+               return reset
+
+
+       def get_tle_err(self):
+               err = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))[0]
+               
+               msg = DiagnosticArray()
+               msg.header.stamp = rospy.Time.now()
+               stat = DiagnosticStatus()
+               stat.name = "Motor: Error Status"
+               stat.level = DiagnosticStatus.ERROR if err else DiagnosticStatus.OK
+               stat.message = "0x%02x" % err
+
+               stat.values.append(KeyValue("aft left", str(bool(err & (1 << 0)))))
+               stat.values.append(KeyValue("front left", str(bool(err & (1 << 1)))))
+               stat.values.append(KeyValue("front right", str(bool(err & (1 << 2)))))
+               stat.values.append(KeyValue("aft right", str(bool(err & (1 << 3)))))
+
+               msg.status.append(stat)
+               self.pub_diag.publish(msg)
+       
+       def get_voltage(self):
+               volt = struct.unpack(">h", i2c_read_reg(0x52, 0x09, 2))[0]/100.0
+
+               msg = DiagnosticArray()
+               msg.header.stamp = rospy.Time.now()
+               stat = DiagnosticStatus()
+               stat.name = "Voltage"
+               stat.level = DiagnosticStatus.ERROR if volt < 7 else DiagnosticStatus.OK
+               stat.message = "%.2fV" % volt
+
+               msg.status.append(stat)
+               self.pub_diag.publish(msg)
+
+
+       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))
+               current_time = rospy.Time.now()
+
+               # since all odometry is 6DOF we'll need a quaternion created from yaw
+               odom_quat = tf.transformations.quaternion_from_euler(0, 0, angle)
+
+               # first, we'll publish the transform over tf
+               if self.tf_broadcaster is not None:
+                       self.tf_broadcaster.sendTransform((posx, posy, 0.0), odom_quat, current_time, "base_footprint", "odom")
+
+               # next, we'll publish the odometry message over ROS
+               odom = Odometry()
+               odom.header.stamp = current_time
+               odom.header.frame_id = "odom"
+
+               # set the position
+               odom.pose.pose.position.x = posx
+               odom.pose.pose.position.y = posy
+               odom.pose.pose.position.z = 0.0
+               odom.pose.pose.orientation.x = odom_quat[0]
+               odom.pose.pose.orientation.y = odom_quat[1]
+               odom.pose.pose.orientation.z = odom_quat[2]
+               odom.pose.pose.orientation.w = odom_quat[3]
+               odom.pose.covariance[0] = 1e-3 # x
+               odom.pose.covariance[7] = 1e-3 # y
+               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
+
+               # set the velocity
+               odom.child_frame_id = "base_footprint"
+               odom.twist.twist.linear.x = speed_trans
+               odom.twist.twist.linear.y = 0.0
+               odom.twist.twist.angular.z = speed_rot
+               odom.twist.covariance[0] = 1e-3 # x
+               odom.twist.covariance[7] = 1e-3 # y
+               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
+
+               # publish the message
+               self.pub_odom.publish(odom)
+
+       
+       def set_speed(self, trans, rot):
+               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)
+
+       # http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
+       def get_dist_ir(self, num):
+               dev = i2c(0x52)
+               s = struct.pack("B", num)
+               dev.write(s)
+               dev.close()
+
+               sleep(2e-6)
+
+               dev = i2c(0x52)
+               s = dev.read(2)
+               dev.close()
+
+               val = struct.unpack(">H", s)[0]
+               return val
+       
+       def get_dist_srf(self, num):
+               dev = i2c(0x52)
+               s = struct.pack("B", num)
+               dev.write(s)
+               dev.close()
+
+               sleep(50e-3)
+
+               dev = i2c(0x52)
+               s = dev.read(2)
+               dev.close()
+
+               return struct.unpack(">H", s)[0]/1000.0
+
+       def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
+               msg = Range()
+               msg.header.stamp = rospy.Time.now()
+               msg.header.frame_id = frame_id
+               msg.radiation_type = typ
+               msg.field_of_view = fov_deg*pi/180
+               msg.min_range = min_range
+               msg.max_range = max_range
+               msg.range = dist
+               pub.publish(msg)
+
+       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)
+
+       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)
+
+       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)
+
+       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)
+               
+
+if __name__ == "__main__":
+       MoveBase()