-#!/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()
projects / ros_wild_thumper.git / commitdiff