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json_py_rosbrige_signed_data_vx_vy.py
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json_py_rosbrige_signed_data_vx_vy.py
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from json import dumps
from json import loads
from ws4py.client.threadedclient import WebSocketClient
import serial
import math
from time import time
import numpy
import transformations as tf
ser=serial.Serial('/dev/ttyUSB0')
ser.baudrate=19200
ser.close()
ser.open()
import transformations
print "sucess"
import time, threading
odometry_x_=0.0
odometry_y_=0.0
odometry_yaw_=0.0
right_encoder_prev=0.0
left_encoder_prev=0.0
current_time=0.0
data_publish_flag=1
class GetLoggersClient(WebSocketClient):
def get_loggers(self):
msg1 = {'op': 'advertise', 'topic': '/encoder1', 'type': 'std_msgs/UInt64'}
msg2 = {'op': 'advertise', 'topic': '/encoder2', 'type': 'std_msgs/UInt64'}
msg3={'op':'advertise', 'topic':'/sonar1', 'type': 'sensor_msgs/Range'}
msg4={'op':'advertise', 'topic':'/sonar2', 'type': 'sensor_msgs/Range'}
msg5={'op':'advertise', 'topic':'/sonar3', 'type': 'sensor_msgs/Range'}
msg6={'op':'advertise', 'topic':'/sonar4', 'type': 'sensor_msgs/Range'}
msg7={'op':'advertise', 'topic':'/sonar5', 'type': 'sensor_msgs/Range'}
msg8={'op':'advertise', 'topic':'/sonar6', 'type': 'sensor_msgs/Range'}
msg9={'op':'advertise', 'topic':'/sonar7', 'type': 'sensor_msgs/Range'}
msg10={'op':'advertise', 'topic':'/sonar8', 'type': 'sensor_msgs/Range'}
msg11={'op':'advertise', 'topic':'/odom', 'type': 'nav_msgs/Odometry'}
self.send(dumps(msg1))
self.send(dumps(msg2))
self.send(dumps(msg3))
self.send(dumps(msg4))
self.send(dumps(msg5))
self.send(dumps(msg6))
self.send(dumps(msg7))
self.send(dumps(msg8))
self.send(dumps(msg9))
self.send(dumps(msg10))
self.send(dumps(msg11))
def ros_subscribe(self):
msg1 = {'op': 'subscribe', 'topic': '/encoder1', 'type':'std_msgs/UInt64'}
self.send(dumps(msg1))
msg2 = {'op': 'subscribe', 'topic': '/encoder2', 'type':'std_msgs/UInt64'}
msg3={'op':'subscribe', 'topic':'/sonar1', 'type': 'sensor_msgs/Range'}
msg4={'op':'subscribe', 'topic':'/sonar2', 'type': 'sensor_msgs/Range'}
msg5={'op':'subscribe', 'topic':'/sonar3', 'type': 'sensor_msgs/Range'}
msg6={'op':'subscribe', 'topic':'/sonar4', 'type': 'sensor_msgs/Range'}
msg7={'op':'subscribe', 'topic':'/sonar5', 'type': 'sensor_msgs/Range'}
msg8={'op':'subscribe', 'topic':'/sonar6', 'type': 'sensor_msgs/Range'}
msg9={'op':'subscribe', 'topic':'/sonar7', 'type': 'sensor_msgs/Range'}
msg10={'op':'subscribe', 'topic':'/sonar8', 'type': 'sensor_msgs/Range'}
msg11={'op':'subscribe', 'topic':'/odom', 'type': 'nav_msgs/Odometry'}
msg12={'op':'subscribe', 'topic':'/cmd_vel_mux/input/teleop', 'type': 'geometry_msgs/Twist'}
self.send(dumps(msg2))
self.send(dumps(msg3))
self.send(dumps(msg4))
self.send(dumps(msg5))
self.send(dumps(msg6))
self.send(dumps(msg7))
self.send(dumps(msg8))
self.send(dumps(msg9))
self.send(dumps(msg10))
self.send(dumps(msg11))
self.send(dumps(msg12))
def ros_publisher(self):
global odometry_x_
global odometry_y_
global odometry_yaw_
global right_encoder_prev
global left_encoder_prev
global current_time
global data_publish_flag
ser.write('S')
print ser.inWaiting()
ser_data=''
if ser.inWaiting()==27:
ser_data=ser.read(27)
data="hello"
#print type(data), len(data)
#print type(ser_data), len(ser_data)
encoder1_data=ord(ser_data[2])*255+ord(ser_data[3])*255+ord(ser_data[4])*255+ord(ser_data[5])
encoder2_data=ord(ser_data[6])*255+ord(ser_data[7])*255+ord(ser_data[8])*255+ord(ser_data[9])
#print 'raw'
#print encoder1_data
#print encoder2_data
encoder1='0x{0:08X}.format(encoder1_data)'
encoder2='0x{0:08X}.format(encoder2_data)'
signed_encoder1=~(0xffffffff - int(encoder1,16))+1
signed_encoder2=~(0xffffffff - int(encoder2,16))+1
print 'raw'
print signed_encoder1
print signed_encoder2
msg1 = {'op': 'publish', 'topic': '/encoder1', 'msg':{'data' : encoder1_data}}
msg2 = {'op': 'publish', 'topic': '/encoder2', 'msg':{'data' : encoder2_data}}
msg3 = {'op': 'publish', 'topic': '/sonar1', 'msg':{'range': ord(ser_data[10])/10.0,'radiation_type' : 0, 'field_of_view' : 0.1, 'min_range':0.05, 'max_range': 2.00,'header':{'frame_id':'sonar1'}}}
msg4 = {'op': 'publish', 'topic': '/sonar2', 'msg':{'range': ord(ser_data[11])/10.0,'radiation_type' : 0, 'field_of_view' : 0.1, 'min_range':0.05, 'max_range': 2.00,'header':{'frame_id':'sonar'}}}
msg5 = {'op': 'publish', 'topic': '/sonar3', 'msg':{'range': ord(ser_data[12])/10.0,'radiation_type' : 0, 'field_of_view' : 0.1, 'min_range':0.05, 'max_range': 2.00,'header':{'frame_id':'sonar3'}}}
msg6 = {'op': 'publish', 'topic': '/sonar4', 'msg':{'range': ord(ser_data[13])/10.0,'radiation_type' : 0, 'field_of_view' : 0.1, 'min_range':0.05, 'max_range': 2.00,'header':{'frame_id':'sonar4'}}}
msg7 = {'op': 'publish', 'topic': '/sonar5', 'msg':{'range': ord(ser_data[14])/10.0,'radiation_type' : 0, 'field_of_view' : 0.1, 'min_range':0.05, 'max_range': 2.00,'header':{'frame_id':'sonar5'}}}
msg8 = {'op': 'publish', 'topic': '/sonar6', 'msg':{'range': ord(ser_data[15])/10.0,'radiation_type' : 0, 'field_of_view' : 0.1, 'min_range':0.05, 'max_range': 2.00,'header':{'frame_id':'sonar6'}}}
msg9 = {'op': 'publish', 'topic': '/sonar7', 'msg':{'range': ord(ser_data[16])/10.0, 'radiation_type' : 0, 'field_of_view' : 0.1, 'min_range':0.05, 'max_range': 2.00,'header':{'frame_id':'sonar7'}}}
msg10= {'op': 'publish', 'topic': '/sonar8', 'msg':{'range': ord(ser_data[17])/10.0,'radiation_type' : 0, 'field_of_view' : 0.1, 'min_range':0.05, 'max_range': 2.00,'header':{'frame_id':'sonar8'}}}
self.send(dumps(msg1))
self.send(dumps(msg2))
self.send(dumps(msg3))
self.send(dumps(msg4))
self.send(dumps(msg5))
self.send(dumps(msg6))
self.send(dumps(msg7))
self.send(dumps(msg8))
self.send(dumps(msg9))
self.send(dumps(msg10))
last_x=odometry_x_
last_y=odometry_y_
last_yaw=odometry_yaw_
right_enc_dif=(encoder1_data-right_encoder_prev)*0.0008888
left_enc_dif=(encoder2_data-left_encoder_prev)*0.0008888
#print 'enc dif'
#print right_encoder_prev
#print encoder1_data
#print left_encoder_prev
#print encoder2_data
#print right_enc_dif
#print left_enc_dif
#calculate odometry
dist=(right_enc_dif+left_enc_dif)/2.0
ang=(right_enc_dif-left_enc_dif)/0.28
#print 'ang'
#print ang
#print dist
right_encoder_prev=encoder1_data
left_encoder_prev=encoder2_data
odometry_yaw_ = math.atan2(math.sin(odometry_yaw_+ang), math.cos(odometry_yaw_+ang))
odometry_x_=odometry_x_+dist*math.cos(odometry_yaw_)
odometry_y_=odometry_y_+dist*math.sin(odometry_yaw_)
#print 'odom'
#print odometry_x_
#print odometry_y_
#print odometry_yaw_
last_time=current_time
current_time=time.time()
#print current_time
#print 'odom'
dt=(current_time-last_time)
vel=dist/dt
vel_x=(odometry_x_-last_x)/dt
vel_y=(odometry_y_-last_y)/dt
vel_yaw=(odometry_yaw_-last_yaw)/dt
#print 'time'
#print (odometry_x_ - last_x)
#print dt
#print 'twist msgs'
#print vel
#print vel_x
#print vel_yaw
orient=tf.quaternion_from_euler(0,0,odometry_yaw_)
msg11= {'op': 'publish', 'topic': '/odom', 'msg': {'pose': {'pose':{'position':{'x':odometry_x_, 'y':odometry_y_, 'z':0.0},'orientation': {'x':orient.item(1), 'y':orient.item(2), 'z':orient.item(3), 'w':orient.item(0) }}},'child_frame_id': 'base_link','twist' : {'twist':{'linear':{'x':vel_x, 'y':vel_y }, 'angular':{'z':vel_yaw} }},'header':{'frame_id':'odom'}}}
self.send(dumps(msg11))
I=transformations.identity_matrix()
#print I
else:
ser.flushInput()
#data="hello"
#print type(data), len(data)
#print type(ser_data), len(ser_data)
#msg = {'op': 'publish', 'topic': '/rosbridge_example', 'msg':{'data' : data}}
#self.send(dumps(msg))
threading.Timer(0.08,self.ros_publisher).start()
def opened(self):
print "Connection opened..."
self.get_loggers()
self.ros_subscribe()
self.ros_publisher()
def closed(self, code, reason=None):
print code, reason
def received_message(self, m):
json_encoded=m
#print json_encoded
#print type(TextMessage('%s' % json_encoded))
if m.is_text: #decode json encoded value to string
recvStr=m.data.decode("utf-8")
#print recvStr
##print "receive", m
data=loads(recvStr) #decode json string to python dict value
#print data
str_topic= data['topic']
if(str_topic=='/cmd_vel_mux/input/teleop'):
#print 'Twist msgs'
#print data['msg']['linear']['x']
#print data['msg']['angular']['z']
x_cmd=data['msg']['linear']['x']
z_cmd=data['msg']['angular']['z']
x_cmd_to_FB=128-(128/0.6)*x_cmd
z_cmd_yaw=z_cmd*0.28
z_cmd_to_FB_R=128-(128/0.6)*z_cmd_yaw
z_cmd_to_FB_L=128+(128/0.6)*z_cmd_yaw
#print 'FB Cmds'
ser.write('H')
ser.write(chr(128))
ser.write(chr(128))
if (x_cmd!=0):
ser.write('H')
ser.write(chr(int(x_cmd_to_FB)))
ser.write(chr(int(x_cmd_to_FB)))
#print x_cmd_to_FB
if (z_cmd!=0):
ser.write('H')
ser.write(chr(int(z_cmd_to_FB_R/10)))
ser.write(chr(int(z_cmd_to_FB_L/10)))
#print z_cmd_to_FB_R
#print z_cmd_to_FB_L
if __name__=="__main__":
try:
ws = GetLoggersClient('ws://127.0.0.1:9090/')
ws.connect()
ws.run_forever()
except KeyboardInterrupt:
ws.close()