wt_node: Implement docking check

diff --git a/config/robot_localization.yaml b/config/robot_localization.yaml
index 193db56d9bc9a43f05244cbc86e69c5416311e8d..82d5fff34d9f547cfc3d0a57e069803e1242ec56 100644 (file)
--- a/config/robot_localization.yaml
+++ b/config/robot_localization.yaml
@@ -64,6 +64,7 @@ imu0_queue_size: 10
 #  message types lack certain variables. For example, a TwistWithCovarianceStamped message has no pose information, so
 #  the first six values would be meaningless in that case. Each vector defaults to all false if unspecified, effectively
 #  making this parameter required for each sensor.
+# odom
 # x/y not included because of redundancy with velocities
 # vyaw not included in odom because too inaccurate
 odom0_config: [false, false, false,
@@ -71,6 +72,7 @@ odom0_config: [false, false, false,
                true,  true,  true,
                false, false, true,
                false, false, false]
+# gps
 odom1_config: [true,  true,  false,
                false, false, false,
                false, false, false,

diff --git a/config/wt_node.cfg b/config/wt_node.cfg
index fe8798cde3fd980c4bdfaf0f96dc84cb6107398b..08d089f883c548af17ca4fe8c2085b1dd1855554 100755 (executable)
--- a/config/wt_node.cfg
+++ b/config/wt_node.cfg
@@ -12,5 +12,6 @@ gen.add("odom_covar_angle",   double_t,       0, "Odometry covariance: rotation", 1.00,
 gen.add("rollover_protect",    bool_t,         0, "Enable motor rollover protection on pitch", True)
 gen.add("rollover_protect_limit",double_t,     0, "Pitch rollover protection limit (degree)", 45, 0, 90)
 gen.add("rollover_protect_pwm",        double_t,       0, "Pitch rollover protection speed (pwm)", 255, 0, 255)
+gen.add("stay_docked", bool_t,         0, "Try to stay dock again after an undocking event", True)
 
 exit(gen.generate("wild_thumper", "wild_thumper", "WildThumper"))

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 663a4f17774dbab88772e094c556f047246729a9..8589156bcf517d75aabea58ac16f5e33f62d3ec4 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -4,6 +4,7 @@
 import rospy
 import tf
 import struct
+import thread
 import prctl
 import spidev
 from time import sleep
@@ -48,7 +49,7 @@ class LPD8806:
                self.spi.writebytes(l)
                self.latch()
 
-class MoveBase:
+class WTBase:
        def __init__(self):
                rospy.init_node('wild_thumper')
                prctl.set_name("wild_thumper")
@@ -77,6 +78,8 @@ class MoveBase:
                rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
                rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
                rospy.Subscriber("imu", Imu, self.imuReceived)
+               self.bDocked = False
+               self.bDocked_last = False
                self.run()
        
        def run(self):
@@ -117,6 +120,8 @@ class MoveBase:
                                self.set_speed(self.cmd_vel[0], self.cmd_vel[1])
                                self.cur_vel = self.cmd_vel
                                self.cmd_vel = None
+
+                       self.check_docked()
                        rate.sleep()
 
        def execute_dyn_reconf(self, config, level):
@@ -128,6 +133,7 @@ class MoveBase:
                self.rollover_protect = config["rollover_protect"]
                self.rollover_protect_limit = config["rollover_protect_limit"]
                self.rollover_protect_pwm = config["rollover_protect_pwm"]
+               self.bStayDocked = config["stay_docked"]
 
                return config
 
@@ -231,6 +237,8 @@ class MoveBase:
                        rospy.logerr("Voltage critical: %.2fV" % (volt))
                        self.volt_last_warn = rospy.Time.now()
 
+               self.bDocked = volt > 10
+
 
        def get_odom(self):
                speed_trans, speed_rot, posx, posy, angle = struct.unpack(">fffff", i2c_read_reg(0x50, 0x38, 20))
@@ -365,7 +373,31 @@ class MoveBase:
                for led in msg.leds:
                        self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
                        self.pStripe.update()
+
+       def check_docked(self):
+               if self.bDocked and not self.bDocked_last:
+                       rospy.loginfo("Docking event")
+               elif not self.bDocked and self.bDocked_last:
+                       if not self.bStayDocked or self.cur_vel != (0, 0):
+                               rospy.loginfo("Undocking event")
+                       else:
+                               rospy.loginfo("Undocking event..redocking")
+                               thread.start_new_thread(self.redock, ())
+
+               self.bDocked_last = self.bDocked
+
+       def redock(self):
+               self.cmd_vel = (-0.1, 0)
+               for i in range(100):
+                       if self.bDocked:
+                               break
+                       sleep(0.01)
+               self.cmd_vel = (0, 0)
+               if self.bDocked:
+                       rospy.loginfo("Redocking done")
+               else:
+                       rospy.logerr("Redocking failed")
                
 
 if __name__ == "__main__":
-       MoveBase()
+       WTBase()