def __init__(self, default_port='/dev/ttyUSB0', default_update_rate=30.0):
"""
@param default_port: default tty port to use for establishing
connection to Turtlebot. This will be overriden by ~port ROS
param if available.
"""
self.default_port = default_port
self.default_update_rate = default_update_rate
self.robot = Turtlebot()
self.sensor_handler = None
self.sensor_state = TurtlebotSensorState()
self.req_cmd_vel = None
rospy.init_node('turtlebot')
self._init_params()
self._init_pubsub()
self._pos2d = Pose2D() # 2D pose for odometry
self._diagnostics = TurtlebotDiagnostics()
if self.has_gyro:
from create_node.gyro import TurtlebotGyro
self._gyro = TurtlebotGyro()
else:
self._gyro = None
dynamic_reconfigure.server.Server(TurtleBotConfig, self.reconfigure)
def __init__(self, default_port='/dev/ttyUSB0', default_update_rate=30.0):
"""
@param default_port: default tty port to use for establishing
connection to Turtlebot. This will be overriden by ~port ROS
param if available.
"""
self.default_port = default_port
self.default_update_rate = default_update_rate
self.sensor_handler = None
self.sensor_state = TurtlebotSensorState()
self.req_cmd_vel = None
self.robot = Turtlebot(self.sensor_state)
rospy.init_node('turtlebot')
self._init_params()
self._init_pubsub()
self._pos2d = Pose2D() # 2D pose for odometry
self._diagnostics = TurtlebotDiagnostics()
if self.has_gyro:
from create_node.gyro import TurtlebotGyro
self._gyro = TurtlebotGyro()
else:
self._gyro = None
dynamic_reconfigure.server.Server(TurtleBotConfig, self.reconfigure)
class TurtlebotNode(object):
_SENSOR_READ_RETRY_COUNT = 5
def __init__(self, default_port='/dev/ttyUSB0', default_update_rate=30.0):
"""
@param default_port: default tty port to use for establishing
connection to Turtlebot. This will be overriden by ~port ROS
param if available.
"""
self.default_port = default_port
self.default_update_rate = default_update_rate
self.sensor_handler = None
self.sensor_state = TurtlebotSensorState()
self.req_cmd_vel = None
self.robot = Turtlebot(self.sensor_state)
rospy.init_node('turtlebot')
self._init_params()
self._init_pubsub()
self._pos2d = Pose2D() # 2D pose for odometry
self._diagnostics = TurtlebotDiagnostics()
if self.has_gyro:
from create_node.gyro import TurtlebotGyro
self._gyro = TurtlebotGyro()
else:
self._gyro = None
dynamic_reconfigure.server.Server(TurtleBotConfig, self.reconfigure)
def start(self):
log_once = True
while not rospy.is_shutdown():
try:
self.robot.start(self.port, robot_types.ROBOT_TYPES[self.robot_type].baudrate)
break
except serial.serialutil.SerialException as ex:
msg = "Failed to open port %s. Error: %s Please make sure the Create cable is plugged into the computer. \n"%((self.port), ex.message)
self._diagnostics.node_status(msg,"error")
if log_once:
log_once = False
rospy.logerr(msg)
else:
sys.stderr.write(msg)
time.sleep(3.0)
self.sensor_handler = robot_types.ROBOT_TYPES[self.robot_type].sensor_handler(self.robot)
self.robot.safe = True
if rospy.get_param('~bonus', False):
bonus(self.robot)
self.robot.control()
# Write driver state to disk
with open(connected_file(), 'w') as f:
f.write("1")
# Startup readings from Create can be incorrect, discard first values
s = TurtlebotSensorState()
try:
self.sense(s)
except Exception:
# packet read can get interrupted, restart loop to
# check for exit conditions
pass
def _init_params(self):
# rospy.set_param('~has_gyro', False)
self.port = rospy.get_param('~port', self.default_port)
self.robot_type = rospy.get_param('~robot_type', 'create')
#self.baudrate = rospy.get_param('~baudrate', self.default_baudrate)
self.update_rate = rospy.get_param('~update_rate', self.default_update_rate)
self.drive_mode = rospy.get_param('~drive_mode', 'twist')
self.has_gyro = rospy.get_param('~has_gyro', True)
self.odom_angular_scale_correction = rospy.get_param('~odom_angular_scale_correction', 1.0)
self.odom_linear_scale_correction = rospy.get_param('~odom_linear_scale_correction', 1.0)
self.cmd_vel_timeout = rospy.Duration(rospy.get_param('~cmd_vel_timeout', 0.6))
self.stop_motors_on_bump = rospy.get_param('~stop_motors_on_bump', True)
self.min_abs_yaw_vel = rospy.get_param('~min_abs_yaw_vel', None)
self.max_abs_yaw_vel = rospy.get_param('~max_abs_yaw_vel', None)
self.publish_tf = rospy.get_param('~publish_tf', False)
self.odom_frame = rospy.get_param('~odom_frame', 'odom')
self.base_frame = rospy.get_param('~base_frame', 'base_footprint')
self.operate_mode = rospy.get_param('~operation_mode', 3)
rospy.loginfo("serial port: %s"%(self.port))
rospy.loginfo("update_rate: %s"%(self.update_rate))
rospy.loginfo("drive mode: %s"%(self.drive_mode))
rospy.loginfo("has gyro: %s"%(self.has_gyro))
def _init_pubsub(self):
self.joint_states_pub = rospy.Publisher('joint_states', JointState, queue_size=10)
self.odom_pub = rospy.Publisher('odom', Odometry, queue_size=10)
self.sensor_state_pub = rospy.Publisher('~sensor_state', TurtlebotSensorState, queue_size=10)
self.operating_mode_srv = rospy.Service('~set_operation_mode', SetTurtlebotMode, self.set_operation_mode)
self.digital_output_srv = rospy.Service('~set_digital_outputs', SetDigitalOutputs, self.set_digital_outputs)
if self.drive_mode == 'twist':
self.cmd_vel_sub = rospy.Subscriber('cmd_vel', Twist, self.cmd_vel)
self.drive_cmd = self.robot.direct_drive
elif self.drive_mode == 'drive':
self.cmd_vel_sub = rospy.Subscriber('cmd_vel', Drive, self.cmd_vel)
self.drive_cmd = self.robot.drive
elif self.drive_mode == 'turtle':
self.cmd_vel_sub = rospy.Subscriber('cmd_vel', Turtle, self.cmd_vel)
self.drive_cmd = self.robot.direct_drive
else:
rospy.logerr("unknown drive mode :%s"%(self.drive_mode))
self.transform_broadcaster = None
if self.publish_tf:
self.transform_broadcaster = tf.TransformBroadcaster()
def reconfigure(self, config, level):
self.update_rate = config['update_rate']
self.drive_mode = config['drive_mode']
self.has_gyro = config['has_gyro']
if self.has_gyro:
self._gyro.reconfigure(config, level)
self.odom_angular_scale_correction = config['odom_angular_scale_correction']
self.odom_linear_scale_correction = config['odom_linear_scale_correction']
self.cmd_vel_timeout = rospy.Duration(config['cmd_vel_timeout'])
self.stop_motors_on_bump = config['stop_motors_on_bump']
self.min_abs_yaw_vel = config['min_abs_yaw_vel']
self.max_abs_yaw_vel = config['max_abs_yaw_vel']
return config
def cmd_vel(self, msg):
# Clamp to min abs yaw velocity, to avoid trying to rotate at low
# speeds, which doesn't work well.
if self.min_abs_yaw_vel is not None and msg.angular.z != 0.0 and abs(msg.angular.z) < self.min_abs_yaw_vel:
msg.angular.z = self.min_abs_yaw_vel if msg.angular.z > 0.0 else -self.min_abs_yaw_vel
# Limit maximum yaw to avoid saturating the gyro
if self.max_abs_yaw_vel is not None and self.max_abs_yaw_vel > 0.0 and msg.angular.z != 0.0 and abs(msg.angular.z) > self.max_abs_yaw_vel:
msg.angular.z = self.max_abs_yaw_vel if msg.angular.z > 0.0 else -self.max_abs_yaw_vel
if self.drive_mode == 'twist':
# convert twist to direct_drive args
ts = msg.linear.x * 1000 # m -> mm
tw = msg.angular.z * (robot_types.ROBOT_TYPES[self.robot_type].wheel_separation / 2) * 1000
# Prevent saturation at max wheel speed when a compound command is sent.
if ts > 0:
ts = min(ts, MAX_WHEEL_SPEED - abs(tw))
else:
ts = max(ts, -(MAX_WHEEL_SPEED - abs(tw)))
self.req_cmd_vel = int(ts - tw), int(ts + tw)
elif self.drive_mode == 'turtle':
# convert to direct_drive args
ts = msg.linear * 1000 # m -> mm
tw = msg.angular * (robot_types.ROBOT_TYPES[self.robot_type].wheel_separation / 2) * 1000
self.req_cmd_vel = int(ts - tw), int(ts + tw)
elif self.drive_mode == 'drive':
# convert twist to drive args, m->mm (velocity, radius)
self.req_cmd_vel = msg.velocity * 1000, msg.radius * 1000
def set_operation_mode(self,req):
if not self.robot.sci:
rospy.logwarn("Create : robot not connected yet, sci not available")
return SetTurtlebotModeResponse(False)
self.operate_mode = req.mode
if req.mode == 1: #passive
self._robot_run_passive()
elif req.mode == 2: #safe
self._robot_run_safe()
elif req.mode == 3: #full
self._robot_run_full()
else:
rospy.logerr("Requested an invalid mode.")
return SetTurtlebotModeResponse(False)
return SetTurtlebotModeResponse(True)
def _robot_run_passive(self):
"""
Set robot into passive run mode
"""
rospy.loginfo("Setting turtlebot to passive mode.")
#setting all the digital outputs to 0
self._set_digital_outputs([0, 0, 0])
self.robot.passive()
def _robot_reboot(self):
"""
Perform a soft-reset of the Create
"""
msg ="Soft-rebooting turtlebot to passive mode."
rospy.logdebug(msg)
self._diagnostics.node_status(msg,"warn")
self._set_digital_outputs([0, 0, 0])
self.robot.soft_reset()
time.sleep(2.0)
def _robot_run_safe(self):
"""
Set robot into safe run mode
"""
rospy.loginfo("Setting turtlebot to safe mode.")
self.robot.safe = True
self.robot.control()
b1 = (self.sensor_state.user_digital_inputs & 2)/2
b2 = (self.sensor_state.user_digital_inputs & 4)/4
self._set_digital_outputs([1, b1, b2])
def _robot_run_full(self):
"""
Set robot into full run mode
"""
rospy.loginfo("Setting turtlebot to full mode.")
self.robot.safe = False
self.robot.control()
b1 = (self.sensor_state.user_digital_inputs & 2)/2
b2 = (self.sensor_state.user_digital_inputs & 4)/4
self._set_digital_outputs([1, b1, b2])
def _set_digital_outputs(self, outputs):
assert len(outputs) == 3, 'Expecting 3 output states.'
byte = 0
for output, state in enumerate(outputs):
byte += (2 ** output) * int(state)
self.robot.set_digital_outputs(byte)
self.sensor_state.user_digital_outputs = byte
def set_digital_outputs(self,req):
if not self.robot.sci:
raise Exception("Robot not connected, SCI not available")
outputs = [req.digital_out_0,req.digital_out_1, req.digital_out_2]
self._set_digital_outputs(outputs)
return SetDigitalOutputsResponse(True)
def sense(self, sensor_state):
self.sensor_handler.get_all(sensor_state)
if self._gyro:
self._gyro.update_calibration(sensor_state)
def spin(self):
# state
s = self.sensor_state
odom = Odometry(header=rospy.Header(frame_id=self.odom_frame), child_frame_id=self.base_frame)
js = JointState(name = ["left_wheel_joint", "right_wheel_joint", "front_castor_joint", "back_castor_joint"],
position=[0,0,0,0], velocity=[0,0,0,0], effort=[0,0,0,0])
r = rospy.Rate(self.update_rate)
last_cmd_vel = 0, 0
last_cmd_vel_time = rospy.get_rostime()
last_js_time = rospy.Time(0)
# We set the retry count to 0 initially to make sure that only
# if we received at least one sensor package, we are robust
# agains a few sensor read failures. For some strange reason,
# sensor read failures can occur when switching to full mode
# on the Roomba.
sensor_read_retry_count = 0
while not rospy.is_shutdown():
last_time = s.header.stamp
curr_time = rospy.get_rostime()
# SENSE/COMPUTE STATE
try:
self.sense(s)
transform = self.compute_odom(s, last_time, odom)
# Future-date the joint states so that we don't have
# to publish as frequently.
js.header.stamp = curr_time + rospy.Duration(1)
except select.error:
# packet read can get interrupted, restart loop to
# check for exit conditions
continue
except DriverError:
if sensor_read_retry_count > 0:
rospy.logwarn('Failed to read sensor package. %d retries left.' % sensor_read_retry_count)
sensor_read_retry_count -= 1
continue
else:
raise
sensor_read_retry_count = self._SENSOR_READ_RETRY_COUNT
# Reboot Create if we detect that charging is necessary.
if s.charging_sources_available > 0 and \
s.oi_mode == 1 and \
s.charging_state in [0, 5] and \
s.charge < 0.93*s.capacity:
rospy.loginfo("going into soft-reboot and exiting driver")
self._robot_reboot()
rospy.loginfo("exiting driver")
break
# Reboot Create if we detect that battery is at critical level switch to passive mode.
if s.charging_sources_available > 0 and \
s.oi_mode == 3 and \
s.charging_state in [0, 5] and \
s.charge < 0.15*s.capacity:
rospy.loginfo("going into soft-reboot and exiting driver")
self._robot_reboot()
rospy.loginfo("exiting driver")
break
# PUBLISH STATE
self.sensor_state_pub.publish(s)
self.odom_pub.publish(odom)
if self.publish_tf:
self.publish_odometry_transform(odom)
# 1hz, future-dated joint state
if curr_time > last_js_time + rospy.Duration(1):
self.joint_states_pub.publish(js)
last_js_time = curr_time
self._diagnostics.publish(s, self._gyro)
if self._gyro:
self._gyro.publish(s, last_time)
# ACT
if self.req_cmd_vel is not None:
# check for velocity command and set the robot into full mode if not plugged in
if s.oi_mode != self.operate_mode and s.charging_sources_available != 1:
if self.operate_mode == 2:
self._robot_run_safe()
else:
self._robot_run_full()
# check for bumper contact and limit drive command
req_cmd_vel = self.check_bumpers(s, self.req_cmd_vel)
# Set to None so we know it's a new command
self.req_cmd_vel = None
# reset time for timeout
last_cmd_vel_time = last_time
# rospy.loginfo('req_cmd_vel: %s', req_cmd_vel)
else:
#zero commands on timeout
if last_time - last_cmd_vel_time > self.cmd_vel_timeout:
last_cmd_vel = 0,0
# double check bumpers
req_cmd_vel = self.check_bumpers(s, last_cmd_vel)
# send command
self.drive_cmd(*req_cmd_vel)
# record command
last_cmd_vel = req_cmd_vel
r.sleep()
def check_bumpers(self, s, cmd_vel):
# Safety: disallow forward motion if bumpers or wheeldrops
# are activated.
# TODO: check bumps_wheeldrops flags more thoroughly, and disable
# all motion (not just forward motion) when wheeldrops are activated
forward = (cmd_vel[0] + cmd_vel[1]) > 0
if self.stop_motors_on_bump and s.bumps_wheeldrops > 0 and forward:
return (0,0)
else:
return cmd_vel
def compute_odom(self, sensor_state, last_time, odom):
"""
Compute current odometry. Updates odom instance and returns tf
transform. compute_odom() does not set frame ids or covariances in
Odometry instance. It will only set stamp, pose, and twist.
@param sensor_state: Current sensor reading
@type sensor_state: TurtlebotSensorState
@param last_time: time of last sensor reading
@type last_time: rospy.Time
@param odom: Odometry instance to update.
@type odom: nav_msgs.msg.Odometry
@return: transform
@rtype: ( (float, float, float), (float, float, float, float) )
"""
# based on otl_roomba by OTL <*****@*****.**>
current_time = sensor_state.header.stamp
dt = (current_time - last_time).to_sec()
# On startup, Create can report junk readings
if abs(sensor_state.distance) > 1.0 or abs(sensor_state.angle) > 1.0:
raise Exception("Distance, angle displacement too big, invalid readings from robot. Distance: %.2f, Angle: %.2f" % (sensor_state.distance, sensor_state.angle))
# this is really delta_distance, delta_angle
d = sensor_state.distance * self.odom_linear_scale_correction #correction factor from calibration
angle = sensor_state.angle * self.odom_angular_scale_correction #correction factor from calibration
x = cos(angle) * d
y = -sin(angle) * d
last_angle = self._pos2d.theta
self._pos2d.x += cos(last_angle)*x - sin(last_angle)*y
self._pos2d.y += sin(last_angle)*x + cos(last_angle)*y
self._pos2d.theta += angle
# Turtlebot quaternion from yaw. simplified version of tf.transformations.quaternion_about_axis
odom_quat = (0., 0., sin(self._pos2d.theta/2.), cos(self._pos2d.theta/2.))
# construct the transform
transform = (self._pos2d.x, self._pos2d.y, 0.), odom_quat
# update the odometry state
odom.header.stamp = current_time
odom.pose.pose = Pose(Point(self._pos2d.x, self._pos2d.y, 0.), Quaternion(*odom_quat))
odom.twist.twist = Twist(Vector3(d/dt, 0, 0), Vector3(0, 0, angle/dt))
if sensor_state.requested_right_velocity == 0 and \
sensor_state.requested_left_velocity == 0 and \
sensor_state.distance == 0:
odom.pose.covariance = ODOM_POSE_COVARIANCE2
odom.twist.covariance = ODOM_TWIST_COVARIANCE2
else:
odom.pose.covariance = ODOM_POSE_COVARIANCE
odom.twist.covariance = ODOM_TWIST_COVARIANCE
# return the transform
return transform
def publish_odometry_transform(self, odometry):
self.transform_broadcaster.sendTransform(
(odometry.pose.pose.position.x, odometry.pose.pose.position.y, odometry.pose.pose.position.z),
(odometry.pose.pose.orientation.x, odometry.pose.pose.orientation.y, odometry.pose.pose.orientation.z,
odometry.pose.pose.orientation.w),
odometry.header.stamp, odometry.child_frame_id, odometry.header.frame_id)
class TurtlebotNode(object):
_SENSOR_READ_RETRY_COUNT = 5
def __init__(self, default_port='/dev/ttyUSB0', default_update_rate=30.0):
"""
@param default_port: default tty port to use for establishing
connection to Turtlebot. This will be overriden by ~port ROS
param if available.
"""
self.default_port = default_port
self.default_update_rate = default_update_rate
self.robot = Turtlebot()
self.sensor_handler = None
self.sensor_state = TurtlebotSensorState()
self.req_cmd_vel = None
rospy.init_node('turtlebot')
self._init_params()
self._init_pubsub()
self._pos2d = Pose2D() # 2D pose for odometry
self._diagnostics = TurtlebotDiagnostics()
if self.has_gyro:
from create_node.gyro import TurtlebotGyro
self._gyro = TurtlebotGyro()
else:
self._gyro = None
dynamic_reconfigure.server.Server(TurtleBotConfig, self.reconfigure)
def start(self):
log_once = True
while not rospy.is_shutdown():
try:
self.robot.start(self.port, robot_types.ROBOT_TYPES[self.robot_type].baudrate)
break
except serial.serialutil.SerialException as ex:
msg = "Failed to open port %s. Error: %s Please make sure the Create cable is plugged into the computer. \n"%((self.port), ex.message)
self._diagnostics.node_status(msg,"error")
if log_once:
log_once = False
rospy.logerr(msg)
else:
sys.stderr.write(msg)
time.sleep(3.0)
self.sensor_handler = robot_types.ROBOT_TYPES[self.robot_type].sensor_handler(self.robot)
self.robot.safe = True
if rospy.get_param('~bonus', False):
bonus(self.robot)
self.robot.control()
# Write driver state to disk
with open(connected_file(), 'w') as f:
f.write("1")
# Startup readings from Create can be incorrect, discard first values
s = TurtlebotSensorState()
try:
self.sense(s)
except Exception:
# packet read can get interrupted, restart loop to
# check for exit conditions
pass
def _init_params(self):
self.port = rospy.get_param('~port', self.default_port)
self.robot_type = rospy.get_param('~robot_type', 'create')
#self.baudrate = rospy.get_param('~baudrate', self.default_baudrate)
self.update_rate = rospy.get_param('~update_rate', self.default_update_rate)
self.drive_mode = rospy.get_param('~drive_mode', 'twist')
self.has_gyro = rospy.get_param('~has_gyro', True)
self.odom_angular_scale_correction = rospy.get_param('~odom_angular_scale_correction', 1.0)
self.odom_linear_scale_correction = rospy.get_param('~odom_linear_scale_correction', 1.0)
self.cmd_vel_timeout = rospy.Duration(rospy.get_param('~cmd_vel_timeout', 0.6))
self.stop_motors_on_bump = rospy.get_param('~stop_motors_on_bump', True)
self.min_abs_yaw_vel = rospy.get_param('~min_abs_yaw_vel', None)
self.max_abs_yaw_vel = rospy.get_param('~max_abs_yaw_vel', None)
self.publish_tf = rospy.get_param('~publish_tf', False)
self.odom_frame = rospy.get_param('~odom_frame', 'odom')
self.base_frame = rospy.get_param('~base_frame', 'base_footprint')
self.operate_mode = rospy.get_param('~operation_mode', 3)
rospy.loginfo("serial port: %s"%(self.port))
rospy.loginfo("update_rate: %s"%(self.update_rate))
rospy.loginfo("drive mode: %s"%(self.drive_mode))
rospy.loginfo("has gyro: %s"%(self.has_gyro))
def _init_pubsub(self):
self.joint_states_pub = rospy.Publisher('joint_states', JointState)
self.odom_pub = rospy.Publisher('odom', Odometry)
self.sensor_state_pub = rospy.Publisher('~sensor_state', TurtlebotSensorState)
self.operating_mode_srv = rospy.Service('~set_operation_mode', SetTurtlebotMode, self.set_operation_mode)
self.digital_output_srv = rospy.Service('~set_digital_outputs', SetDigitalOutputs, self.set_digital_outputs)
if self.drive_mode == 'twist':
self.cmd_vel_sub = rospy.Subscriber('cmd_vel', Twist, self.cmd_vel)
self.drive_cmd = self.robot.direct_drive
elif self.drive_mode == 'drive':
self.cmd_vel_sub = rospy.Subscriber('cmd_vel', Drive, self.cmd_vel)
self.drive_cmd = self.robot.drive
elif self.drive_mode == 'turtle':
self.cmd_vel_sub = rospy.Subscriber('cmd_vel', Turtle, self.cmd_vel)
self.drive_cmd = self.robot.direct_drive
else:
rospy.logerr("unknown drive mode :%s"%(self.drive_mode))
self.transform_broadcaster = None
if self.publish_tf:
self.transform_broadcaster = tf.TransformBroadcaster()
def reconfigure(self, config, level):
self.update_rate = config['update_rate']
self.drive_mode = config['drive_mode']
self.has_gyro = config['has_gyro']
if self.has_gyro:
self._gyro.reconfigure(config, level)
self.odom_angular_scale_correction = config['odom_angular_scale_correction']
self.odom_linear_scale_correction = config['odom_linear_scale_correction']
self.cmd_vel_timeout = rospy.Duration(config['cmd_vel_timeout'])
self.stop_motors_on_bump = config['stop_motors_on_bump']
self.min_abs_yaw_vel = config['min_abs_yaw_vel']
self.max_abs_yaw_vel = config['max_abs_yaw_vel']
return config
def cmd_vel(self, msg):
# Clamp to min abs yaw velocity, to avoid trying to rotate at low
# speeds, which doesn't work well.
if self.min_abs_yaw_vel is not None and msg.angular.z != 0.0 and abs(msg.angular.z) < self.min_abs_yaw_vel:
msg.angular.z = self.min_abs_yaw_vel if msg.angular.z > 0.0 else -self.min_abs_yaw_vel
# Limit maximum yaw to avoid saturating the gyro
if self.max_abs_yaw_vel is not None and self.max_abs_yaw_vel > 0.0 and msg.angular.z != 0.0 and abs(msg.angular.z) > self.max_abs_yaw_vel:
msg.angular.z = self.max_abs_yaw_vel if msg.angular.z > 0.0 else -self.max_abs_yaw_vel
if self.drive_mode == 'twist':
# convert twist to direct_drive args
ts = msg.linear.x * 1000 # m -> mm
tw = msg.angular.z * (robot_types.ROBOT_TYPES[self.robot_type].wheel_separation / 2) * 1000
# Prevent saturation at max wheel speed when a compound command is sent.
if ts > 0:
ts = min(ts, MAX_WHEEL_SPEED - abs(tw))
else:
ts = max(ts, -(MAX_WHEEL_SPEED - abs(tw)))
self.req_cmd_vel = int(ts - tw), int(ts + tw)
elif self.drive_mode == 'turtle':
# convert to direct_drive args
ts = msg.linear * 1000 # m -> mm
tw = msg.angular * (robot_types.ROBOT_TYPES[self.robot_type].wheel_separation / 2) * 1000
self.req_cmd_vel = int(ts - tw), int(ts + tw)
elif self.drive_mode == 'drive':
# convert twist to drive args, m->mm (velocity, radius)
self.req_cmd_vel = msg.velocity * 1000, msg.radius * 1000
def set_operation_mode(self,req):
if not self.robot.sci:
rospy.logwarn("Create : robot not connected yet, sci not available")
return SetTurtlebotModeResponse(False)
self.operate_mode = req.mode
if req.mode == 1: #passive
self._robot_run_passive()
elif req.mode == 2: #safe
self._robot_run_safe()
elif req.mode == 3: #full
self._robot_run_full()
else:
rospy.logerr("Requested an invalid mode.")
return SetTurtlebotModeResponse(False)
return SetTurtlebotModeResponse(True)
def _robot_run_passive(self):
"""
Set robot into passive run mode
"""
rospy.loginfo("Setting turtlebot to passive mode.")
#setting all the digital outputs to 0
self._set_digital_outputs([0, 0, 0])
self.robot.passive()
def _robot_reboot(self):
"""
Perform a soft-reset of the Create
"""
msg ="Soft-rebooting turtlebot to passive mode."
rospy.logdebug(msg)
self._diagnostics.node_status(msg,"warn")
self._set_digital_outputs([0, 0, 0])
self.robot.soft_reset()
time.sleep(2.0)
def _robot_run_safe(self):
"""
Set robot into safe run mode
"""
rospy.loginfo("Setting turtlebot to safe mode.")
self.robot.safe = True
self.robot.control()
b1 = (self.sensor_state.user_digital_inputs & 2)/2
b2 = (self.sensor_state.user_digital_inputs & 4)/4
self._set_digital_outputs([1, b1, b2])
def _robot_run_full(self):
"""
Set robot into full run mode
"""
rospy.loginfo("Setting turtlebot to full mode.")
self.robot.safe = False
self.robot.control()
b1 = (self.sensor_state.user_digital_inputs & 2)/2
b2 = (self.sensor_state.user_digital_inputs & 4)/4
self._set_digital_outputs([1, b1, b2])
def _set_digital_outputs(self, outputs):
assert len(outputs) == 3, 'Expecting 3 output states.'
byte = 0
for output, state in enumerate(outputs):
byte += (2 ** output) * int(state)
self.robot.set_digital_outputs(byte)
self.sensor_state.user_digital_outputs = byte
def set_digital_outputs(self,req):
if not self.robot.sci:
raise Exception("Robot not connected, SCI not available")
outputs = [req.digital_out_0,req.digital_out_1, req.digital_out_2]
self._set_digital_outputs(outputs)
return SetDigitalOutputsResponse(True)
def sense(self, sensor_state):
self.sensor_handler.get_all(sensor_state)
if self._gyro:
self._gyro.update_calibration(sensor_state)
def spin(self):
# state
s = self.sensor_state
odom = Odometry(header=rospy.Header(frame_id=self.odom_frame), child_frame_id=self.base_frame)
js = JointState(name = ["left_wheel_joint", "right_wheel_joint", "front_castor_joint", "back_castor_joint"],
position=[0,0,0,0], velocity=[0,0,0,0], effort=[0,0,0,0])
r = rospy.Rate(self.update_rate)
last_cmd_vel = 0, 0
last_cmd_vel_time = rospy.get_rostime()
last_js_time = rospy.Time(0)
# We set the retry count to 0 initially to make sure that only
# if we received at least one sensor package, we are robust
# agains a few sensor read failures. For some strange reason,
# sensor read failures can occur when switching to full mode
# on the Roomba.
sensor_read_retry_count = 0
while not rospy.is_shutdown():
last_time = s.header.stamp
curr_time = rospy.get_rostime()
# SENSE/COMPUTE STATE
try:
self.sense(s)
transform = self.compute_odom(s, last_time, odom)
# Future-date the joint states so that we don't have
# to publish as frequently.
js.header.stamp = curr_time + rospy.Duration(1)
except select.error:
# packet read can get interrupted, restart loop to
# check for exit conditions
continue
except DriverError:
if sensor_read_retry_count > 0:
rospy.logwarn('Failed to read sensor package. %d retries left.' % sensor_read_retry_count)
sensor_read_retry_count -= 1
continue
else:
raise
sensor_read_retry_count = self._SENSOR_READ_RETRY_COUNT
# Reboot Create if we detect that charging is necessary.
if s.charging_sources_available > 0 and \
s.oi_mode == 1 and \
s.charging_state in [0, 5] and \
s.charge < 0.93*s.capacity:
rospy.loginfo("going into soft-reboot and exiting driver")
self._robot_reboot()
rospy.loginfo("exiting driver")
break
# Reboot Create if we detect that battery is at critical level switch to passive mode.
if s.charging_sources_available > 0 and \
s.oi_mode == 3 and \
s.charging_state in [0, 5] and \
s.charge < 0.15*s.capacity:
rospy.loginfo("going into soft-reboot and exiting driver")
self._robot_reboot()
rospy.loginfo("exiting driver")
break
# PUBLISH STATE
self.sensor_state_pub.publish(s)
self.odom_pub.publish(odom)
if self.publish_tf:
self.publish_odometry_transform(odom)
# 1hz, future-dated joint state
if curr_time > last_js_time + rospy.Duration(1):
self.joint_states_pub.publish(js)
last_js_time = curr_time
self._diagnostics.publish(s, self._gyro)
if self._gyro:
self._gyro.publish(s, last_time)
# ACT
if self.req_cmd_vel is not None:
# check for velocity command and set the robot into full mode if not plugged in
if s.oi_mode != self.operate_mode and s.charging_sources_available != 1:
if self.operate_mode == 2:
self._robot_run_safe()
else:
self._robot_run_full()
# check for bumper contact and limit drive command
req_cmd_vel = self.check_bumpers(s, self.req_cmd_vel)
# Set to None so we know it's a new command
self.req_cmd_vel = None
# reset time for timeout
last_cmd_vel_time = last_time
else:
#zero commands on timeout
if last_time - last_cmd_vel_time > self.cmd_vel_timeout:
last_cmd_vel = 0,0
# double check bumpers
req_cmd_vel = self.check_bumpers(s, last_cmd_vel)
# send command
self.drive_cmd(*req_cmd_vel)
# record command
last_cmd_vel = req_cmd_vel
r.sleep()
def check_bumpers(self, s, cmd_vel):
# Safety: disallow forward motion if bumpers or wheeldrops
# are activated.
# TODO: check bumps_wheeldrops flags more thoroughly, and disable
# all motion (not just forward motion) when wheeldrops are activated
forward = (cmd_vel[0] + cmd_vel[1]) > 0
if self.stop_motors_on_bump and s.bumps_wheeldrops > 0 and forward:
return (0,0)
else:
return cmd_vel
def compute_odom(self, sensor_state, last_time, odom):
"""
Compute current odometry. Updates odom instance and returns tf
transform. compute_odom() does not set frame ids or covariances in
Odometry instance. It will only set stamp, pose, and twist.
@param sensor_state: Current sensor reading
@type sensor_state: TurtlebotSensorState
@param last_time: time of last sensor reading
@type last_time: rospy.Time
@param odom: Odometry instance to update.
@type odom: nav_msgs.msg.Odometry
@return: transform
@rtype: ( (float, float, float), (float, float, float, float) )
"""
# based on otl_roomba by OTL <*****@*****.**>
current_time = sensor_state.header.stamp
dt = (current_time - last_time).to_sec()
# On startup, Create can report junk readings
if abs(sensor_state.distance) > 1.0 or abs(sensor_state.angle) > 1.0:
raise Exception("Distance, angle displacement too big, invalid readings from robot. Distance: %.2f, Angle: %.2f" % (sensor_state.distance, sensor_state.angle))
# this is really delta_distance, delta_angle
d = sensor_state.distance * self.odom_linear_scale_correction #correction factor from calibration
angle = sensor_state.angle * self.odom_angular_scale_correction #correction factor from calibration
x = cos(angle) * d
y = -sin(angle) * d
last_angle = self._pos2d.theta
self._pos2d.x += cos(last_angle)*x - sin(last_angle)*y
self._pos2d.y += sin(last_angle)*x + cos(last_angle)*y
self._pos2d.theta += angle
# Turtlebot quaternion from yaw. simplified version of tf.transformations.quaternion_about_axis
odom_quat = (0., 0., sin(self._pos2d.theta/2.), cos(self._pos2d.theta/2.))
# construct the transform
transform = (self._pos2d.x, self._pos2d.y, 0.), odom_quat
# update the odometry state
odom.header.stamp = current_time
odom.pose.pose = Pose(Point(self._pos2d.x, self._pos2d.y, 0.), Quaternion(*odom_quat))
odom.twist.twist = Twist(Vector3(d/dt, 0, 0), Vector3(0, 0, angle/dt))
if sensor_state.requested_right_velocity == 0 and \
sensor_state.requested_left_velocity == 0 and \
sensor_state.distance == 0:
odom.pose.covariance = ODOM_POSE_COVARIANCE2
odom.twist.covariance = ODOM_TWIST_COVARIANCE2
else:
odom.pose.covariance = ODOM_POSE_COVARIANCE
odom.twist.covariance = ODOM_TWIST_COVARIANCE
# return the transform
return transform
def publish_odometry_transform(self, odometry):
self.transform_broadcaster.sendTransform(
(odometry.pose.pose.position.x, odometry.pose.pose.position.y, odometry.pose.pose.position.z),
(odometry.pose.pose.orientation.x, odometry.pose.pose.orientation.y, odometry.pose.pose.orientation.z,
odometry.pose.pose.orientation.w),
odometry.header.stamp, odometry.child_frame_id, odometry.header.frame_id)
def __init__(self, port="/dev/ttyUSB0", baudrate=115200):
'''
Initializes the receiver class.
port: The serial port to listen to.
baudrate: Baud rate for the serial communication
'''
self.default_port = '/dev/ttyUSB0' # Note that the Propeller board must be plugged in BEFORE anything else to secure ttyUSB0
#self.default_update_rate = 30.0
self.robot = Turtlebot()
self.sensor_handler = None
self.sensor_state = TurtlebotSensorState()
self.req_cmd_vel = None
rospy.init_node('turtlebot')
self._init_params()
self._init_pubsub()
self._pos2d = Pose2D() # 2D pose for odometry
self._diagnostics = TurtlebotDiagnostics()
if self.has_gyro:
from create_node.gyro import TurtlebotGyro
self._gyro = TurtlebotGyro()
else:
self._gyro = None
#dynamic_reconfigure.server.Server(TurtleBotConfig, self.reconfigure)
self._Counter = 0
rospy.init_node('turtlebot')
port = rospy.get_param("~port", "")
baudRate = int(rospy.get_param("~baudRate", 0))
rospy.loginfo("Starting with serial port: " + port + ", baud rate: " + str(baudRate))
# subscriptions
rospy.Subscriber("cmd_vel", Twist, self._HandleVelocityCommand) # Is this line or the below bad redundancy?
rospy.Subscriber("cmd_vel_mux/input/teleop", Twist, self._HandleVelocityCommand) # IS this line or the above bad redundancy?
self._SerialPublisher = rospy.Publisher('serial', String)
# The Odometry Transform is done in/with the robot_pose_ekf now
self._OdometryTransformBroadcaster = tf.TransformBroadcaster() # REMOVE this line if you use robot_pose_ekf
self._OdometryPublisher = rospy.Publisher("odom", Odometry)
# We don't need to broadcast a transform, as it is static and contained within the URDF files
#self._SonarTransformBroadcaster = tf.TransformBroadcaster()
self._SonarPublisher = rospy.Publisher("sonar_scan", LaserScan)
# Gyro Publisher
# Based on code in TurtleBot source:
# ~/turtlebot/src/turtlebot_create/create_node/src/create_node/gyro.py
#self._ImuPublisher = rospy.Publisher("imu/data", Imu)
#self.imu_data = Imu(header=rospy.Header(frame_id="gyro_link"))
#self.imu_data.orientation_covariance = [1e6, 0, 0, 0, 1e6, 0, 0, 0, 1e-6]
#self.imu_data.angular_velocity_covariance = [1e6, 0, 0, 0, 1e6, 0, 0, 0, 1e-6]
#self.imu_data.linear_acceleration_covariance = [-1,0,0,0,0,0,0,0,0]
#self.imu_pub = rospy.Publisher('imu/data', Imu)
#self.imu_pub_raw = rospy.Publisher('imu/raw', Imu)
self._SerialDataGateway = SerialDataGateway(port, baudRate, self._HandleReceivedLine)
class PropellerComm(object):
'''
Helper class for communicating with a Propeller board over serial port
'''
#CONTROLLER_INITIALIZING = 1;
#CONTROLLER_IS_READY = 2;
def __init__(self, port="/dev/ttyUSB0", baudrate=115200):
'''
Initializes the receiver class.
port: The serial port to listen to.
baudrate: Baud rate for the serial communication
'''
self.default_port = '/dev/ttyUSB0' # Note that the Propeller board must be plugged in BEFORE anything else to secure ttyUSB0
#self.default_update_rate = 30.0
self.robot = Turtlebot()
self.sensor_handler = None
self.sensor_state = TurtlebotSensorState()
self.req_cmd_vel = None
rospy.init_node('turtlebot')
self._init_params()
self._init_pubsub()
self._pos2d = Pose2D() # 2D pose for odometry
self._diagnostics = TurtlebotDiagnostics()
if self.has_gyro:
from create_node.gyro import TurtlebotGyro
self._gyro = TurtlebotGyro()
else:
self._gyro = None
#dynamic_reconfigure.server.Server(TurtleBotConfig, self.reconfigure)
self._Counter = 0
rospy.init_node('turtlebot')
port = rospy.get_param("~port", "")
baudRate = int(rospy.get_param("~baudRate", 0))
rospy.loginfo("Starting with serial port: " + port + ", baud rate: " + str(baudRate))
# subscriptions
rospy.Subscriber("cmd_vel", Twist, self._HandleVelocityCommand) # Is this line or the below bad redundancy?
rospy.Subscriber("cmd_vel_mux/input/teleop", Twist, self._HandleVelocityCommand) # IS this line or the above bad redundancy?
self._SerialPublisher = rospy.Publisher('serial', String)
# The Odometry Transform is done in/with the robot_pose_ekf now
self._OdometryTransformBroadcaster = tf.TransformBroadcaster() # REMOVE this line if you use robot_pose_ekf
self._OdometryPublisher = rospy.Publisher("odom", Odometry)
# We don't need to broadcast a transform, as it is static and contained within the URDF files
#self._SonarTransformBroadcaster = tf.TransformBroadcaster()
self._SonarPublisher = rospy.Publisher("sonar_scan", LaserScan)
# Gyro Publisher
# Based on code in TurtleBot source:
# ~/turtlebot/src/turtlebot_create/create_node/src/create_node/gyro.py
#self._ImuPublisher = rospy.Publisher("imu/data", Imu)
#self.imu_data = Imu(header=rospy.Header(frame_id="gyro_link"))
#self.imu_data.orientation_covariance = [1e6, 0, 0, 0, 1e6, 0, 0, 0, 1e-6]
#self.imu_data.angular_velocity_covariance = [1e6, 0, 0, 0, 1e6, 0, 0, 0, 1e-6]
#self.imu_data.linear_acceleration_covariance = [-1,0,0,0,0,0,0,0,0]
#self.imu_pub = rospy.Publisher('imu/data', Imu)
#self.imu_pub_raw = rospy.Publisher('imu/raw', Imu)
self._SerialDataGateway = SerialDataGateway(port, baudRate, self._HandleReceivedLine)
def _init_params(self):
self.port = rospy.get_param('~port', self.default_port)
self.robot_type = rospy.get_param('~robot_type', 'create')
#self.baudrate = rospy.get_param('~baudrate', self.default_baudrate)
#self.update_rate = rospy.get_param('~update_rate', self.default_update_rate)
self.drive_mode = rospy.get_param('~drive_mode', 'twist')
self.has_gyro = rospy.get_param('~has_gyro', False) # Not sure if this does anything anymore
self.odom_angular_scale_correction = rospy.get_param('~odom_angular_scale_correction', 1.0)
self.odom_linear_scale_correction = rospy.get_param('~odom_linear_scale_correction', 1.0)
self.cmd_vel_timeout = rospy.Duration(rospy.get_param('~cmd_vel_timeout', 0.6))
self.stop_motors_on_bump = rospy.get_param('~stop_motors_on_bump', True)
self.min_abs_yaw_vel = rospy.get_param('~min_abs_yaw_vel', None)
self.max_abs_yaw_vel = rospy.get_param('~max_abs_yaw_vel', None)
self.publish_tf = rospy.get_param('~publish_tf', False)
self.odom_frame = rospy.get_param('~odom_frame', 'odom')
self.base_frame = rospy.get_param('~base_frame', 'base_footprint')
self.operate_mode = rospy.get_param('~operation_mode', 3)
rospy.loginfo("serial port: %s"%(self.port))
#rospy.loginfo("update_rate: %s"%(self.update_rate))
rospy.loginfo("drive mode: %s"%(self.drive_mode))
rospy.loginfo("has gyro: %s"%(self.has_gyro))
def _init_pubsub(self):
# Instead of publishing a stream of pointless transforms,
# How about if I just make the joint static in the URDF?
# create.urdf.xacro:
# <joint name="right_wheel_joint" type="fixed">
# NOTE This may prevent Gazebo from working with this model
#self.joint_states_pub = rospy.Publisher('joint_states', JointState)
# This is the Turtlebot node instance, the Propeller code uses another line above.
#self.odom_pub = rospy.Publisher('odom', Odometry)
self.sensor_state_pub = rospy.Publisher('~sensor_state', TurtlebotSensorState)
self.operating_mode_srv = rospy.Service('~set_operation_mode', SetTurtlebotMode, self.set_operation_mode)
self.digital_output_srv = rospy.Service('~set_digital_outputs', SetDigitalOutputs, self.set_digital_outputs)
self.transform_broadcaster = None
if self.publish_tf:
self.transform_broadcaster = tf.TransformBroadcaster()
def set_operation_mode(self,req):
if not self.robot.sci:
rospy.logwarn("Create : robot not connected yet, sci not available")
return SetTurtlebotModeResponse(False)
self.operate_mode = req.mode
if req.mode == 1: #passive
self._robot_run_passive()
elif req.mode == 2: #safe
self._robot_run_safe()
elif req.mode == 3: #full
self._robot_run_full()
else:
rospy.logerr("Requested an invalid mode.")
return SetTurtlebotModeResponse(False)
return SetTurtlebotModeResponse(True)
def _set_digital_outputs(self, outputs):
assert len(outputs) == 3, 'Expecting 3 output states.'
byte = 0
for output, state in enumerate(outputs):
byte += (2 ** output) * int(state)
self.robot.set_digital_outputs(byte)
self.sensor_state.user_digital_outputs = byte
def set_digital_outputs(self,req):
if not self.robot.sci:
raise Exception("Robot not connected, SCI not available")
outputs = [req.digital_out_0,req.digital_out_1, req.digital_out_2]
self._set_digital_outputs(outputs)
return SetDigitalOutputsResponse(True)
def reconfigure(self, config, level):
#self.update_rate = config['update_rate']
self.drive_mode = config['drive_mode']
self.has_gyro = config['has_gyro']
if self.has_gyro:
self._gyro.reconfigure(config, level)
self.odom_angular_scale_correction = config['odom_angular_scale_correction']
self.odom_linear_scale_correction = config['odom_linear_scale_correction']
self.cmd_vel_timeout = rospy.Duration(config['cmd_vel_timeout'])
self.stop_motors_on_bump = config['stop_motors_on_bump']
self.min_abs_yaw_vel = config['min_abs_yaw_vel']
self.max_abs_yaw_vel = config['max_abs_yaw_vel']
return config
def _HandleReceivedLine(self, line): # This is Propeller specific
self._Counter = self._Counter + 1
#rospy.logdebug(str(self._Counter) + " " + line)
#if (self._Counter % 50 == 0):
self._SerialPublisher.publish(String(str(self._Counter) + ", in: " + line))
if (len(line) > 0):
lineParts = line.split('\t')
if (lineParts[0] == 'o'):
self._BroadcastOdometryInfo(lineParts)
return
if (lineParts[0] == 'i'):
self._InitializeDriveGeometry()
return
def _BroadcastOdometryInfo(self, lineParts):
# This broadcasts ALL info from the Propeller based robot every time data comes in
partsCount = len(lineParts)
#rospy.logwarn(partsCount)
if (partsCount < 8): # Just discard short lines, increment this as lines get longer
pass
try:
x = float(lineParts[1])
y = float(lineParts[2])
# 3 is odom based heading and 4 is gyro based
# If there is some way to "integrate" these, go for it!
theta = float(lineParts[4])
vx = float(lineParts[5])
omega = float(lineParts[6])
#quaternion = tf.transformations.quaternion_from_euler(0, 0, theta)
quaternion = Quaternion()
quaternion.x = 0.0
quaternion.y = 0.0
quaternion.z = sin(theta / 2.0)
quaternion.w = cos(theta / 2.0)
rosNow = rospy.Time.now()
# First, we'll publish the transform from frame odom to frame base_link over tf
# Note that sendTransform requires that 'to' is passed in before 'from' while
# the TransformListener' lookupTransform function expects 'from' first followed by 'to'.
#This transform conflicts with transforms built into the Turtle stack
# http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20broadcaster%20%28Python%29
# This is done in/with the robot_pose_ekf because it can integrate IMU/gyro data
# using an "extended Kalman filter"
# REMOVE this "line" if you use robot_pose_ekf
self._OdometryTransformBroadcaster.sendTransform(
(x, y, 0),
(quaternion.x, quaternion.y, quaternion.z, quaternion.w),
rosNow,
"base_footprint",
"odom"
)
# next, we'll publish the odometry message over ROS
odometry = Odometry()
odometry.header.frame_id = "odom"
odometry.header.stamp = rosNow
odometry.pose.pose.position.x = x
odometry.pose.pose.position.y = y
odometry.pose.pose.position.z = 0
odometry.pose.pose.orientation = quaternion
odometry.child_frame_id = "base_link"
odometry.twist.twist.linear.x = vx
odometry.twist.twist.linear.y = 0
odometry.twist.twist.angular.z = omega
#for Turtlebot stack from turtlebot_node.py
# robot_pose_ekf needs these covariances and we may need to adjust them?
# From: ~/turtlebot/src/turtlebot_create/create_node/src/create_node/covariances.py
# This is not needed if not using robot_pose_ekf
'''
odometry.pose.covariance = [1e-3, 0, 0, 0, 0, 0,
0, 1e-3, 0, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e3]
odometry.twist.covariance = [1e-3, 0, 0, 0, 0, 0,
0, 1e-3, 0, 0, 0, 0,
0, 0, 1e6, 0, 0, 0,
0, 0, 0, 1e6, 0, 0,
0, 0, 0, 0, 1e6, 0,
0, 0, 0, 0, 0, 1e3]
'''
self._OdometryPublisher.publish(odometry)
#"IMU" data from Gyro
'''
# Based on code in TurtleBot source:
# ~/turtlebot/src/turtlebot_create/create_node/src/create_node/gyro.py
# It may make more sense to compute some of this on the Propeller board,
# but for now I'm just trying to follow the TurtleBot Create code as beast I can
current_time = rosNow
#dt = (current_time - last_time).to_sec()
#past_orientation = self.orientation
#self.imu_data.header.stamp = sensor_state.header.stamp
#self.imu_data.angular_velocity.z = (float(sensor_state.user_analog_input)-self.cal_offset)/self.cal_offset*self.gyro_measurement_range*(math.pi/180.0)*self.gyro_scale_correction
#sign change
#self.imu_data.angular_velocity.z = -1.0*self.imu_data.angular_velocity.z
#self.orientation += self.imu_data.angular_velocity.z * dt
#print orientation
#(self.imu_data.orientation.x, self.imu_data.orientation.y, self.imu_data.orientation.z, self.imu_data.orientation.w) = PyKDL.Rotation.RotZ(self.orientation).GetQuaternion()
#self.imu_data = odom.twist.twist = Twist(Vector3(d/dt, 0, 0), Vector3(0, 0, angle/dt))
#self.imu_pub.publish(self.imu_data)
#self.imu_data.header.stamp = sensor_state.header.stamp
#self.imu_data.angular_velocity.z = (float(sensor_state.user_analog_input)/self.gyro_measurement_range*(math.pi/180.0)*self.gyro_scale_correction)
#sign change
#self.imu_data.angular_velocity.z = -1.0*self.imu_data.angular_velocity.z
#raw_orientation = past_orientation + self.imu_data.angular_velocity.z * dt
#print orientation
#(self.imu_data.orientation.x, self.imu_data.orientation.y, self.imu_data.orientation.z, self.imu_data.orientation.w) = PyKDL.Rotation.RotZ(raw_orientation).GetQuaternion()
#self.imu_pub_raw.publish(self.imu_data)
last_time = current_time
imu = Imu()
imu.orientation_covariance = [1e6, 0, 0, 0, 1e6, 0, 0, 0, 1e-6] # From Turtlebot, probably wrong.
# You CANNOT set the orientation_covariance to -1, 0, ..., else you get this error:
#[ERROR] [1405831732.096853617]: Covariance specified for measurement on topic imu is zero
# The TurtleBot Create builds this in Python, but I'm not sure if I can or want to build orientation
# myself? Does the Gyro give this?
#imu.orientation_covariance = [-1,0,0,0,0,0,0,0,0] # This should indicate no data for this matrix
imu.angular_velocity_covariance = [1e6, 0, 0, 0, 1e6, 0, 0, 0, 1e-6] # From Turtlebot, probably wrong.
#imu.angular_velocity_covariance = [-1,0,0,0,0,0,0,0,0] # This should indicate no data for this matrix
imu.linear_acceleration_covariance = [-1,0,0,0,0,0,0,0,0] # This should indicate no data for this matrix
#imu.orientation_covariance = [999999 , 0 , 0, 0, 9999999, 0, 0, 0, 999999]
#imu.angular_velocity_covariance = [9999, 0 , 0, 0 , 99999, 0, 0 , 0 , 0.02]
#imu.linear_acceleration_covariance = [0.2 , 0 , 0, 0 , 0.2, 0, 0 , 0 , 0.2]
imu.linear_acceleration.x = 0
imu.linear_acceleration.y = 0
imu.linear_acceleration.z = 0
imu.angular_velocity.x = float(lineParts[7]) / 57.2957795130824
imu.angular_velocity.y = float(lineParts[8]) / 57.2957795130824
imu.angular_velocity.z = float(lineParts[9]) / 57.2957795130824
imu.orientation.x = 0
imu.orientation.y = 0
imu.orientation.z = 0
imu.orientation.w = 1.0
#imu.header.stamp = rospy.Time.now()
imu.header.stamp = rosNow
imu.header.frame_id = "gyro_link"
#imu.header.frame_id = 'base_link'
self._ImuPublisher.publish(imu)
'''
# Joint State for Turtlebot stack
# Note without this transform publisher the wheels will
# be white, stuck at 0, 0, 0 and RVIZ will tell you that
# there is no transform from the wheel_links to the base_
'''
# Instead of publishing a stream of pointless transforms,
# How about if I just make the joint static in the URDF?
# create.urdf.xacro:
# <joint name="right_wheel_joint" type="fixed">
# NOTE This may prevent Gazebo from working with this model
js = JointState(name = ["left_wheel_joint", "right_wheel_joint", "front_castor_joint", "back_castor_joint"],
position=[0,0,0,0], velocity=[0,0,0,0], effort=[0,0,0,0])
js.header.stamp = rosNow
self.joint_states_pub.publish(js)
'''
# Fake laser from "PING" Ultrasonic Sensor input:
# http://wiki.ros.org/navigation/Tutorials/RobotSetup/TF
# Transform: http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20broadcaster%20%28Python%29
'''
# We don't need to broadcast a transform,
as it is static and contained within the URDF files
self._SonarTransformBroadcaster.sendTransform(
(0.1, 0.0, 0.2),
(0, 0, 0, 1),
rosNow,
"sonar_laser",
"base_link"
)
'''
# Some help: http://books.google.com/books?id=2ZL9AAAAQBAJ&pg=PT396&lpg=PT396&dq=fake+LaserScan+message&source=bl&ots=VJMfSYXApG&sig=s2YgiHTA3i1OjVyPxp2aAslkW_Y&hl=en&sa=X&ei=B_vDU-LkIoef8AHsooHICA&ved=0CG0Q6AEwCQ#v=onepage&q=fake%20LaserScan%20message&f=false
num_readings = 360 # How about 1 per degree?
laser_frequency = 100 # I'm not sure how to decide what to use here.
#ranges = [1] * num_readings # Fill array with fake "1" readings for testing
ranges = [0] * num_readings # Fill array with 0 and then overlap with real readings
pingRange0 = int(lineParts[7]) / 100.0
ranges[0] = pingRange0
ranges[1] = pingRange0
ranges[2] = pingRange0
ranges[3] = pingRange0
ranges[4] = pingRange0
ranges[5] = pingRange0
ranges[359] = pingRange0
ranges[358] = pingRange0
ranges[357] = pingRange0
ranges[356] = pingRange0
ranges[355] = pingRange0
# Is there a more concise way to code that array fill?
# LaserScan: http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html
sonar_scan = LaserScan()
sonar_scan.header.stamp = rosNow
sonar_scan.header.frame_id = "ping_sensor_array"
# For example:
#scan.angle_min = -45 * M_PI / 180; // -45 degree
#scan.angle_max = 45 * M_PI / 180; // 45 degree
# if you want to receive a full 360 degrees scan, you should try setting min_angle to -pi/2 and max_angle to 3/2 * pi.
# Radians: http://en.wikipedia.org/wiki/Radian#Advantages_of_measuring_in_radians
sonar_scan.angle_min = 0
sonar_scan.angle_max = 2 * 3.14159 # Full circle
sonar_scan.scan_time = 1 # I think this is only really applied for 3D scanning
# Make sure the part you divide by num_readings is the same as your angle_max!
# Might even make sense to use a variable here?
sonar_scan.angle_increment = (2 * 3.14) / num_readings
sonar_scan.time_increment = (1 / laser_frequency) / (num_readings)
# From: http://www.parallax.com/product/28015
# Range: approximately 1 inch to 10 feet (2 cm to 3 m)
# This should be adjusted based on the imaginary distance between the actual laser
# and the laser location in the URDF file. Or else the adjustment somewhere else?
sonar_scan.range_min = 0.02 # in Meters Distances below this number will be ignored
sonar_scan.range_max = 3 # in Meters Distances above this will be ignored
sonar_scan.ranges = ranges
# "intensity" is a value specific to each laser scanner model.
# It can safely be ignored
self._SonarPublisher.publish(sonar_scan)
except:
rospy.logwarn("Unexpected error:" + str(sys.exc_info()[0]))
def _WriteSerial(self, message):
self._SerialPublisher.publish(String(str(self._Counter) + ", out: " + message))
self._SerialDataGateway.Write(message)
def Start(self):
rospy.logdebug("Starting")
self._SerialDataGateway.Start()
def Stop(self):
rospy.logdebug("Stopping")
self._SerialDataGateway.Stop()
def _HandleVelocityCommand(self, twistCommand): # This is Propeller specific
""" Handle movement requests. """
v = twistCommand.linear.x # m/s
omega = twistCommand.angular.z # rad/s
rospy.logdebug("Handling twist command: " + str(v) + "," + str(omega))
message = 's,%.3f,%.3f\r' % (v, omega)
rospy.logdebug("Sending speed command message: " + message)
self._WriteSerial(message)
def _InitializeDriveGeometry(self): # This is Propeller specific
#wheelDiameter = rospy.get_param("~driveGeometry/wheelDiameter", "0")
trackWidth = rospy.get_param("~driveGeometry/trackWidth", "0")
#countsPerRevolution = rospy.get_param("~driveGeometry/countsPerRevolution", "0")
distancePerCount = rospy.get_param("~driveGeometry/distancePerCount", "0")
#wheelDiameterParts = self._GetBaseAndExponent(wheelDiameter)
#trackWidthParts = self._GetBaseAndExponent(trackWidth)
message = 'd,%f,%f\r' % (trackWidth, distancePerCount)
rospy.logdebug("Sending drive geometry params message: " + message)
self._WriteSerial(message)