class EarthRoverChassis:
def __init__(self):
rospy.init_node("earth_rover_chassis",
# log_level=rospy.DEBUG
)
# rospy.on_shutdown(self.shutdown)
# robot dimensions
self.wheel_radius = rospy.get_param("~wheel_radius_meters", 1.0)
self.wheel_distance = rospy.get_param("~wheel_distance_meters", 1.0)
self.ticks_per_rotation = rospy.get_param("~ticks_per_rotation", 1.0)
# speed parameters
self.left_min_speed_meters_per_s = rospy.get_param(
"~left_min_speed_meters_per_s", -1.0)
self.left_max_speed_meters_per_s = rospy.get_param(
"~left_max_speed_meters_per_s", 1.0)
self.right_min_speed_meters_per_s = rospy.get_param(
"~right_min_speed_meters_per_s", -1.0)
self.right_max_speed_meters_per_s = rospy.get_param(
"~right_max_speed_meters_per_s", 1.0)
self.left_min_usable_command = rospy.get_param(
"~left_min_usable_command", 0.10)
self.right_min_usable_command = rospy.get_param(
"~right_min_usable_command", 0.10)
self.min_measurable_speed = rospy.get_param("~min_measurable_speed",
0.0001)
# cmd_vel parameters
# self.min_cmd_lin_vel = rospy.get_param("~min_cmd_lin_vel", 0.0)
# self.min_cmd_ang_vel = rospy.get_param("~min_cmd_lin_vel", 0.0)
# PID parameters
self.enable_pid = rospy.get_param("~enable_pid", True)
self.min_command = rospy.get_param("~min_command", -1.0)
self.max_command = rospy.get_param("~max_command", 1.0)
self.kp = rospy.get_param("~kp", 1.0)
self.ki = rospy.get_param("~ki", 0.0)
self.kd = rospy.get_param("~kd", 0.0)
self.speed_smooth_k = rospy.get_param("~speed_smooth_k", 1.0)
# self.output_deadzone = rospy.get_param("~output_deadzone", 0.1)
self.output_noise = rospy.get_param("~output_noise", 0.01)
# TF parameters
self.child_frame = rospy.get_param("~odom_child_frame", "base_link")
self.parent_frame = rospy.get_param("~odom_parent_frame", "odom")
self.tf_broadcaster = tf.TransformBroadcaster()
# Ultrasonic parameters
self.stopping_distances_cm = rospy.get_param("~stopping_distances_cm",
None)
self.easing_offset_cm = rospy.get_param("~easing_offset_cm", 5.0)
self.easing_offset_cm = rospy.get_param("~min_tracking_lin_vel", 0.07)
self.easing_offset_cm = rospy.get_param("~min_tracking_ang_vel", 5.0)
self.front_sensors = rospy.get_param("~front_sensors", None)
self.right_sensors = rospy.get_param("~right_sensors", None)
self.left_sensors = rospy.get_param("~left_sensors", None)
self.back_sensors = rospy.get_param("~back_sensors", None)
assert self.stopping_distances_cm is not None
assert self.front_sensors is not None
assert self.right_sensors is not None
assert self.left_sensors is not None
assert self.back_sensors is not None
# Motor controller objects
left_motor_info = MotorInfo(
"left motor", self.kp, self.ki, self.kd, self.speed_smooth_k,
self.wheel_radius, self.ticks_per_rotation,
self.left_min_usable_command, self.left_min_speed_meters_per_s,
self.left_max_speed_meters_per_s, self.min_command,
self.max_command, self.output_noise, self.min_measurable_speed)
right_motor_info = MotorInfo(
"right motor", self.kp, self.ki, self.kd, self.speed_smooth_k,
self.wheel_radius, self.ticks_per_rotation,
self.right_min_usable_command, self.right_min_speed_meters_per_s,
self.right_max_speed_meters_per_s, self.min_command,
self.max_command, self.output_noise, self.min_measurable_speed)
self.left_motor = MotorController(left_motor_info)
self.right_motor = MotorController(right_motor_info)
self.linear_speed_mps = 0.0
self.rotational_speed_mps = 0.0
# Ultrasonic state tracking objects
self.num_sensors = len(self.stopping_distances_cm)
self.sensor_directions = [[Direction.FRONT, self.front_sensors],
[Direction.BACK, self.back_sensors],
[Direction.LEFT, self.left_sensors],
[Direction.RIGHT, self.right_sensors]]
self.trackers_indexed = [None for _ in range(self.num_sensors)]
self.trackers_directed = {
Direction.FRONT: TrackerCollection(),
Direction.BACK: TrackerCollection(),
Direction.LEFT: TrackerCollection(),
Direction.RIGHT: TrackerCollection(),
}
for direction, sensor_indices in self.sensor_directions:
for sensor_index in sensor_indices:
stop_dist = self.stopping_distances_cm[sensor_index]
ease_dist = stop_dist + self.easing_offset_cm
tracker = UltrasonicTracker(stop_dist, ease_dist)
self.trackers_indexed[sensor_index] = tracker
self.trackers_directed[direction].append(tracker)
# prev state tracking
self.prev_left_output = 0.0
self.prev_right_output = 0.0
# odometry state
self.odom_x = 0.0
self.odom_y = 0.0
self.odom_t = 0.0
self.odom_vx = 0.0
self.odom_vy = 0.0
self.odom_vt = 0.0
# Odometry message
self.odom_msg = Odometry()
self.odom_msg.header.frame_id = self.parent_frame
self.odom_msg.child_frame_id = self.child_frame
# Subscribers
self.twist_sub = rospy.Subscriber("cmd_vel",
Twist,
self.twist_callback,
queue_size=5)
self.left_encoder_sub = rospy.Subscriber("left/left_encoder/ticks",
Int64,
self.left_encoder_callback,
queue_size=50)
self.right_encoder_sub = rospy.Subscriber("right/right_encoder/ticks",
Int64,
self.right_encoder_callback,
queue_size=50)
self.ultrasonic_sub = rospy.Subscriber(
"earth_rover_teensy_bridge/ultrasonic",
Float32MultiArray,
self.ultrasonic_callback,
queue_size=15)
# Publishers
self.left_dist_pub = rospy.Publisher("left/left_encoder/distance",
Float64,
queue_size=5)
self.right_dist_pub = rospy.Publisher("right/right_encoder/distance",
Float64,
queue_size=5)
self.left_speed_pub = rospy.Publisher("left/left_encoder/speed",
Float64,
queue_size=5)
self.right_speed_pub = rospy.Publisher("right/right_encoder/speed",
Float64,
queue_size=5)
self.left_command_pub = rospy.Publisher("left/command_speed",
Float64,
queue_size=5)
self.right_command_pub = rospy.Publisher("right/command_speed",
Float64,
queue_size=5)
self.odom_pub = rospy.Publisher("odom", Odometry, queue_size=5)
# Services
self.tuning_service = rospy.Service("tune_motor_pid", TuneMotorPID,
self.tune_motor_pid)
def tune_motor_pid(self, request):
kp = request.kp
ki = request.ki
kd = request.kd
rospy.loginfo("Updated PID constants to kp=%s, ki=%s, kd=%s" %
(kp, ki, kd))
self.left_motor.tune_pid(kp, ki, kd)
self.right_motor.tune_pid(kp, ki, kd)
return TuneMotorPIDResponse()
def twist_callback(self, twist_msg):
self.linear_speed_mps = twist_msg.linear.x # m/s
angular_speed_radps = twist_msg.angular.z # rad/s
# if abs(self.linear_speed_mps) < self.min_cmd_lin_vel and self.linear_speed_mps != 0.0:
# # assign linear_speed_mps the minimum speed with direction sign applied
# self.linear_speed_mps = math.copysign(self.min_cmd_lin_vel, self.linear_speed_mps)
# if abs(angular_speed_radps) < self.min_cmd_ang_vel and angular_speed_radps != 0.0:
# angular_speed_radps = math.copysign(self.min_cmd_ang_vel, angular_speed_radps)
# arc = angle * radius
# rotation speed at the wheels
self.rotational_speed_mps = angular_speed_radps * self.wheel_distance / 2
def left_encoder_callback(self, enc_msg):
self.left_motor.enc_tick = -enc_msg.data
dt = self.left_motor.get_dt(rospy.Time.now())
left_output = self.left_motor.update(dt)
if left_output is not None:
self.command_left_motor(left_output)
def right_encoder_callback(self, enc_msg):
self.right_motor.enc_tick = enc_msg.data
dt = self.right_motor.get_dt(rospy.Time.now())
right_output = self.right_motor.update(dt)
if right_output is not None:
self.command_right_motor(right_output)
def ultrasonic_callback(self, ultrasonic_msg):
for index, distance in enumerate(ultrasonic_msg.data):
self.trackers_indexed[index].update(distance)
def scale_targets(self, lin_vel, ang_vel):
if lin_vel > 0:
lin_vel = self.trackers_directed[Direction.FRONT].scale_v(lin_vel)
elif lin_vel < 0:
lin_vel = self.trackers_directed[Direction.BACK].scale_v(lin_vel)
elif ang_vel < 0: # if moving right, check the left side
ang_vel = self.trackers_directed[Direction.LEFT].scale_v(ang_vel)
elif ang_vel > 0: # if moving left, check the right side
ang_vel = self.trackers_directed[Direction.RIGHT].scale_v(ang_vel)
return lin_vel, ang_vel
def run(self):
clock_rate = rospy.Rate(30)
prev_ultrasonic_report_t = rospy.Time.now()
while not rospy.is_shutdown():
self.compute_odometry(self.left_motor.get_delta_dist(),
self.right_motor.get_delta_dist(),
self.left_motor.get_speed(),
self.right_motor.get_speed())
self.publish_chassis_data()
linear_speed_mps, rotational_speed_mps = self.scale_targets(
self.linear_speed_mps, self.rotational_speed_mps)
if linear_speed_mps != self.linear_speed_mps or rotational_speed_mps != self.rotational_speed_mps:
current_time = rospy.Time.now()
if current_time - prev_ultrasonic_report_t > rospy.Duration(
0.5):
prev_ultrasonic_report_t = current_time
print "Scaling speed based on distance sensors"
for direction in self.trackers_directed:
print "\t%s, dist: %s, scale: %s" % (
Direction.name(direction),
self.trackers_directed[direction].get_dists(),
self.trackers_directed[direction].get_scale())
self.left_motor.set_target(linear_speed_mps - rotational_speed_mps)
self.right_motor.set_target(linear_speed_mps +
rotational_speed_mps)
clock_rate.sleep()
def command_left_motor(self, command):
if self.enable_pid and self.prev_left_output != command:
self.left_command_pub.publish(command)
self.prev_left_output = command
def command_right_motor(self, command):
if self.enable_pid and self.prev_right_output != command:
self.right_command_pub.publish(command)
self.prev_right_output = command
def publish_chassis_data(self):
self.left_dist_pub.publish(self.left_motor.get_dist())
self.right_dist_pub.publish(self.right_motor.get_dist())
self.left_speed_pub.publish(self.left_motor.get_speed())
self.right_speed_pub.publish(self.right_motor.get_speed())
odom_quaternion = tf.transformations.quaternion_from_euler(
0.0, 0.0, self.odom_t)
self.tf_broadcaster.sendTransform((self.odom_x, self.odom_y, 0.0),
odom_quaternion, rospy.Time.now(),
self.child_frame, self.parent_frame)
self.odom_msg.header.stamp = rospy.Time.now()
self.odom_msg.pose.pose.position.x = self.odom_x
self.odom_msg.pose.pose.position.y = self.odom_y
self.odom_msg.pose.pose.position.z = 0.0
self.odom_msg.pose.pose.orientation.x = odom_quaternion[0]
self.odom_msg.pose.pose.orientation.y = odom_quaternion[1]
self.odom_msg.pose.pose.orientation.z = odom_quaternion[2]
self.odom_msg.pose.pose.orientation.w = odom_quaternion[3]
self.odom_msg.twist.twist.linear.x = self.odom_vx
self.odom_msg.twist.twist.linear.y = self.odom_vy
self.odom_msg.twist.twist.linear.z = 0.0
self.odom_msg.twist.twist.angular.x = 0.0
self.odom_msg.twist.twist.angular.y = 0.0
self.odom_msg.twist.twist.angular.z = self.odom_vt
self.odom_pub.publish(self.odom_msg)
def compute_odometry(self, delta_left, delta_right, left_speed,
right_speed):
delta_dist = (delta_right + delta_left) / 2
# angle = arc / radius
delta_angle = (delta_right - delta_left) / self.wheel_distance
self.odom_t += delta_angle
dx = delta_dist * math.cos(self.odom_t)
dy = delta_dist * math.sin(self.odom_t)
self.odom_x += dx
self.odom_y += dy
speed = (right_speed + left_speed) / 2
self.odom_vx = speed * math.cos(self.odom_t)
self.odom_vy = speed * math.sin(self.odom_t)
self.odom_vt = (right_speed - left_speed) / (self.wheel_distance / 2)
