class NeatoNode:
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('neato')
self.port = rospy.get_param('~port', "/dev/ttyUSB0")
rospy.loginfo("Using port: %s" % (self.port))
self.robot = Botvac(self.port)
rospy.Subscriber("cmd_vel", Twist, self.cmdVelCb)
self.scanPub = rospy.Publisher('base_scan', LaserScan, queue_size=10)
self.odomPub = rospy.Publisher('odom', Odometry, queue_size=10)
self.buttonPub = rospy.Publisher('soft_button', Button, queue_size=100)
self.odomBroadcaster = TransformBroadcaster()
self.cmd_vel = [0, 0]
self.old_vel = self.cmd_vel
def spin(self):
encoders = [0, 0]
self.x = 0 # position in xy plane
self.y = 0
self.th = 0
then = rospy.Time.now()
# things that don't ever change
scan_link = rospy.get_param('~frame_id', 'base_laser_link')
scan = LaserScan(header=rospy.Header(frame_id=scan_link))
scan.angle_min = -3.13
scan.angle_max = +3.13
scan.angle_increment = 0.017437326
scan.range_min = 0.020
scan.range_max = 5.0
odom = Odometry(header=rospy.Header(frame_id="odom"),
child_frame_id='base_link')
softb = Button()
# main loop of driver
r = rospy.Rate(5)
while not rospy.is_shutdown():
# get motor encoder values
left, right = self.robot.getMotors()
# send updated movement commands
if self.cmd_vel != self.old_vel:
self.robot.setMotors(
self.cmd_vel[0], self.cmd_vel[1],
max(abs(self.cmd_vel[0]), abs(self.cmd_vel[1])))
# prepare laser scan
scan.header.stamp = rospy.Time.now()
scan.ranges = self.robot.getScanRanges()
# now update position information
dt = (scan.header.stamp - then).to_sec()
then = scan.header.stamp
d_left = (left - encoders[0]) / 1000.0
d_right = (right - encoders[1]) / 1000.0
encoders = [left, right]
dx = (d_left + d_right) / 2
dth = (d_right - d_left) / (self.robot.base_width / 1000.0)
x = cos(dth) * dx
y = -sin(dth) * dx
self.x += cos(self.th) * x - sin(self.th) * y
self.y += sin(self.th) * x + cos(self.th) * y
self.th += dth
# prepare tf from base_link to odom
quaternion = Quaternion()
quaternion.z = sin(self.th / 2.0)
quaternion.w = cos(self.th / 2.0)
# prepare odometry
odom.header.stamp = rospy.Time.now()
odom.pose.pose.position.x = self.x
odom.pose.pose.position.y = self.y
odom.pose.pose.position.z = 0
odom.pose.pose.orientation = quaternion
odom.twist.twist.linear.x = dx / dt
odom.twist.twist.angular.z = dth / dt
# sensors
lsb, rsb, lfb, rfb = self.robot.getDigitalSensors()
# buttons
btn_soft, btn_scr_up, btn_start, btn_back, btn_scr_down = self.robot.getButtons(
)
softb.value = btn_soft
softb.name = "Soft_Button"
# publish everything
self.odomBroadcaster.sendTransform(
(self.x, self.y, 0),
(quaternion.x, quaternion.y, quaternion.z, quaternion.w), then,
"base_link", "odom")
self.scanPub.publish(scan)
self.odomPub.publish(odom)
self.buttonPub.publish(softb)
# wait, then do it again
r.sleep()
# shut down
self.robot.setLDS("off")
self.robot.setTestMode("off")
def cmdVelCb(self, req):
x = req.linear.x * 1000
th = req.angular.z * (self.robot.base_width / 2)
k = max(abs(x - th), abs(x + th))
# sending commands higher than max speed will fail
if k > self.robot.max_speed:
x = x * self.robot.max_speed / k
th = th * self.robot.max_speed / k
self.cmd_vel = [int(x - th), int(x + th)]
class NeatoNode:
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('neato')
self.port = rospy.get_param('~port', "/dev/ttyUSB0")
self.lds = rospy.get_param('~lds', True)
rospy.loginfo("Using port: %s" % self.port)
self.robot = Botvac(self.port, self.lds)
rospy.Subscriber("cmd_dist", Movement, self.cmdMovementCb)
self.scanPub = rospy.Publisher('base_scan', LaserScan, queue_size=1)
self.odomPub = rospy.Publisher('odom', Odometry, queue_size=1)
self.buttonPub = rospy.Publisher('button', Button, queue_size=1)
self.sensorPub = rospy.Publisher('sensor', Sensor, queue_size=1)
self.accelerationPub = rospy.Publisher('acceleration',
Vector3Stamped,
queue_size=1)
self.wallPub = rospy.Publisher('wall', Range, queue_size=1)
self.drop_leftPub = rospy.Publisher('drop_left', Range, queue_size=1)
self.drop_rightPub = rospy.Publisher('drop_right', Range, queue_size=1)
self.magneticPub = rospy.Publisher('magnetic', Sensor, queue_size=1)
self.odomBroadcaster = TransformBroadcaster()
rospy.Service('set_info_led', SetLed, self.setInfoLed)
rospy.Service('play_sound', PlaySound, self.playSound)
rospy.Service('set_lds', SetBool, self.setLDS)
self.cmd_vel = 0
self.cmd_dist = [0, 0]
self.old_dist = self.cmd_dist
self.encoders = [0, 0]
def spin(self):
self.x = 0 # position in xy plane
self.y = 0
self.th = 0
# things that don't ever change
scan_link = rospy.get_param('~frame_id', 'base_laser_link')
scan = LaserScan(header=rospy.Header(frame_id=scan_link))
scan.angle_min = -3.13
scan.angle_max = +3.13
scan.angle_increment = 0.017437326
scan.range_min = 0.020
scan.range_max = 5.0
odom = Odometry(header=rospy.Header(frame_id="odom"),
child_frame_id='base_link')
self.odomPub.publish(odom)
button = Button()
sensor = Sensor()
magnetic = Sensor()
range_sensor = Range()
range_sensor.radiation_type = 1
#range_sensor.field_of_view =
range_sensor.min_range = 0.0
range_sensor.max_range = 0.255
acceleration = Vector3Stamped()
self.robot.setBacklight(1)
self.robot.setLED("info", "blue", "solid")
# main loop of driver
r = rospy.Rate(5)
loop_counter = 0
try:
while not rospy.is_shutdown():
if loop_counter == 4:
self.set_battery_status()
self.publish_scan(scan)
loop_counter = 0
else:
loop_counter += 1
self.publish_odom(odom)
self.publish_buttons(button)
drop_left, drop_right, ml, mr = self.publish_analog(
acceleration, range_sensor, magnetic)
lw, rw, lsb, rsb, lfb, rfb = self.publish_digital(sensor)
# send updated movement commands
if self.violate_safety_constraints(drop_left, drop_right, ml,
mr, lw, rw, lsb, rsb, lfb,
rfb):
self.robot.setMotors(0, 0, 0)
self.cmd_vel = [0, 0]
elif self.cmd_vel != self.old_vel:
self.robot.setMotors(self.cmd_dist[0], self.cmd_dist[1],
self.cmd_vel)
# reset command distance and speed
self.robot.cmd_dist = [0, 0]
self.robot.cmd_vel = 0
# wait, then do it again
r.sleep()
# shut down
self.robot.setMotors(0, 0, 0)
self.robot.setBacklight(0)
self.robot.setLED("Battery", "Green", "Off")
self.robot.setLED("Info", "Blue", "Off")
self.robot.setLDS("off")
self.robot.setTestMode("off")
except:
exc_info = sys.exc_info()
traceback.print_exception(*exc_info)
self.robot.setMotors(0, 0, 0)
self.robot.setBacklight(0)
self.robot.setLED("Battery", "Green", "Off")
self.robot.setLED("Info", "Red", "Solid")
self.robot.setLDS("off")
self.robot.setTestMode("off")
def cmdVelCb(self, req):
x = req.linear.x * 1000
th = req.angular.z * (self.robot.base_width / 2)
k = max(abs(x - th), abs(x + th))
# sending commands higher than max speed will fail
if k > self.robot.max_speed:
x = x * self.robot.max_speed / k
th = th * self.robot.max_speed / k
self.cmd_vel = [int(x - th), int(x + th)]
def cmdMovementCb(self, req):
k = req.vel
# sending commands higher than max speed will fail
if k > self.robot.max_speed:
k = self.robot.max_speed
ros.logwarn(
"You have set the speed to more than the maximum speed of the neato. For safety reasons it is set to %d",
self.robot.max_speed)
self.robot.cmd_vel = k
self.robot.cmd_dist = [req.x_dist, req.y_dist]
def publish_odom(self, odom):
# get motor encoder values
left, right = self.robot.getMotors()
d_left = (left - self.encoders[0]) / 1000.0
d_right = (right - self.encoders[1]) / 1000.0
self.encoders = [left, right]
dx = (d_left + d_right) / 2
dth = (d_right - d_left) / (self.robot.base_width / 1000.0)
x = cos(dth) * dx
y = -sin(dth) * dx
self.x += cos(self.th) * x - sin(self.th) * y
self.y += sin(self.th) * x + cos(self.th) * y
self.th += dth
# prepare tf from base_link to odom
quaternion = Quaternion()
quaternion.z = sin(self.th / 2.0)
quaternion.w = cos(self.th / 2.0)
dt = (odom.header.stamp - rospy.Time.now()).secs
# prepare odometry
odom.header.stamp = rospy.Time.now()
odom.pose.pose.position.x = self.x
odom.pose.pose.position.y = self.y
odom.pose.pose.position.z = 0
odom.pose.pose.orientation = quaternion
odom.twist.twist.linear.x = dx / dt
odom.twist.twist.angular.z = dth / dt
# publish everything
self.odomPub.publish(odom)
self.odomBroadcaster.sendTransform(
(self.x, self.y, 0),
(quaternion.x, quaternion.y, quaternion.z, quaternion.w),
rospy.Time.now(), "base_link", "odom")
def publish_scan(self, scan):
scan.header.stamp = rospy.Time.now()
scan.ranges = self.robot.getScanRanges()
self.scanPub.publish(scan)
def publish_analog(self, acceleration, range_sensor, magnetic):
# analog sensors
ax, ay, az, ml, mr, wall, drop_left, drop_right = self.robot.getAnalogSensors(
)
acceleration.header.stamp = rospy.Time.now()
# convert mG to m/s^2
acceleration.vector.x = ax * 9.80665 / 1000.0
acceleration.vector.y = ay * 9.80665 / 1000.0
acceleration.vector.z = az * 9.80665 / 1000.0
range_sensor.header.stamp = rospy.Time.now()
self.accelerationPub.publish(acceleration)
range_sensor.range = wall / 1000.0
self.wallPub.publish(range_sensor)
range_sensor.range = drop_left / 1000.0
self.drop_leftPub.publish(range_sensor)
range_sensor.range = drop_right / 1000.0
self.drop_rightPub.publish(range_sensor)
magnetic_enum = ("Left_Sensor", "Right_Sensor")
for idx, val in enumerate((ml, mr)):
magnetic.value = val
magnetic.name = magnetic_enum[idx]
self.magneticPub.publish(magnetic)
return drop_left, drop_right, ml, mr
def publish_buttons(self, button):
btn_soft, btn_scr_up, btn_start, btn_back, btn_scr_down = self.robot.getButtons(
)
button_enum = ("Soft_Button", "Up_Button", "Start_Button",
"Back_Button", "Down_Button")
for idx, b in enumerate(
(btn_soft, btn_scr_up, btn_start, btn_back, btn_scr_down)):
if b == 1:
button.value = b
button.name = button_enum[idx]
self.buttonPub.publish(button)
def publish_digital(self, sensor):
lsb, rsb, lfb, rfb, lw, rw = self.robot.getDigitalSensors()
sensor_enum = ("Left_Side_Bumper", "Right_Side_Bumper", "Left_Bumper",
"Right_Bumper", "Left_Wheel", "Right_Wheel")
for idx, b in enumerate((lsb, rsb, lfb, rfb, lw, rw)):
if b == 1:
sensor.value = b
sensor.name = sensor_enum[idx]
self.sensorPub.publish(sensor)
return lw, rw, lsb, rsb, lfb, rfb
def set_battery_status(self):
# notify if low batt
charge = self.robot.getCharger()
if charge < 10:
#print "battery low " + str(self.robot.getCharger()) + "%"
self.robot.setLED("battery", "red", "pulse")
elif charge < 25:
self.robot.setLED("battery", "yellow", "solid")
else:
self.robot.setLED("battery", "green", "solid")
rospy.loginfo_throttle(60,
"Current battery status: " + str(charge) + "%")
def violate_safety_constraints(left_drop, right_drop, *digital_sensors):
if left_drop > 30 or right_drop > 30:
print "safety constraint violated by drop sensor"
return True
else:
for sensor in digital_sensors:
if sensor == 1:
print "safety constraint violated by digital sensor"
return True
return False
def setInfoLed(self, data):
self.robot.setLED("info", data.color, data.status)
return SetLedResponse()
def playSound(self, data):
self.robot.playSound(data.soundid)
return PlaySoundResponse()
def setLDS(self, data):
if data.data:
self.robot.setLDS("on")
else:
self.robot.setLDS("off")
return SetBoolResponse(True, "")
class NeatoNode:
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('neato')
self.CMD_RATE =2
self.port = rospy.get_param('~port', "/dev/ttyACM0")
rospy.loginfo("Using port: %s" % self.port)
self.robot = Botvac(self.port)
rospy.Subscriber("cmd_vel", Twist, self.cmdVelCb)
self.scanPub = rospy.Publisher('base_scan', LaserScan, queue_size=10)
self.odomPub = rospy.Publisher('odom', Odometry, queue_size=10)
self.buttonPub = rospy.Publisher('button', Button, queue_size=10)
self.sensorPub = rospy.Publisher('sensor', Sensor, queue_size=10)
self.odomBroadcaster = TransformBroadcaster()
self.cmd_vel = [0, 0]
self.old_vel = self.cmd_vel
def spin(self):
encoders = [0, 0]
self.x = 0 # position in xy plane
self.y = 0
self.th = 0
then = rospy.Time.now()
# things that don't ever change
scan_link = rospy.get_param('~frame_id', 'base_laser_link')
scan = LaserScan(header=rospy.Header(frame_id=scan_link))
scan.angle_min =0.0
scan.angle_max =359.0*pi/180.0
scan.angle_increment =pi/180.0
scan.range_min = 0.020
scan.range_max = 5.0
odom = Odometry(header=rospy.Header(frame_id="odom"), child_frame_id='base_footprint')
button = Button()
sensor = Sensor()
self.robot.setBacklight(1)
self.robot.setLED("Green")
# main loop of driver
r = rospy.Rate(5)
cmd_rate= self.CMD_RATE
self.robot.requestScan()
while not rospy.is_shutdown():
# notify if low batt
#if self.robot.getCharger() < 10:
# print "battery low " + str(self.robot.getCharger()) + "%"
# get motor encoder values
left, right = self.robot.getMotors()
cmd_rate = cmd_rate-1
if cmd_rate ==0:
# send updated movement commands
#if self.cmd_vel != self.old_vel or self.cmd_vel == [0,0]:
# max(abs(self.cmd_vel[0]),abs(self.cmd_vel[1])))
#self.robot.setMotors(self.cmd_vel[0], self.cmd_vel[1], (abs(self.cmd_vel[0])+abs(self.cmd_vel[1]))/2)
self.robot.setMotors(self.cmd_vel[0], self.cmd_vel[1], max(abs(self.cmd_vel[0]),abs(self.cmd_vel[1])))
cmd_rate = self.CMD_RATE
self.old_vel = self.cmd_vel
# prepare laser scan
scan.header.stamp = rospy.Time.now()
#scan.ranges, scan.intensities = self.robot.getScanRanges()
scan.ranges = self.robot.getScanRanges()
self.robot.requestScan()
# now update position information
dt = (scan.header.stamp - then).to_sec()
then = scan.header.stamp
d_left = (left - encoders[0])/1000.0
d_right = (right - encoders[1])/1000.0
encoders = [left, right]
#print d_left, d_right, encoders
dx = (d_left+d_right)/2
dth = (d_right-d_left)/(self.robot.base_width/1000.0)
x = cos(dth)*dx
y = -sin(dth)*dx
self.x += cos(self.th)*x - sin(self.th)*y
self.y += sin(self.th)*x + cos(self.th)*y
self.th += dth
#print self.x,self.y,self.th
# prepare tf from base_link to odom
quaternion = Quaternion()
quaternion.z = sin(self.th/2.0)
quaternion.w = cos(self.th/2.0)
# prepare odometry
odom.header.stamp = rospy.Time.now()
odom.pose.pose.position.x = self.x
odom.pose.pose.position.y = self.y
odom.pose.pose.position.z = 0
odom.pose.pose.orientation = quaternion
odom.twist.twist.linear.x = dx/dt
odom.twist.twist.angular.z = dth/dt
# sensors
lsb, rsb, lfb, rfb = self.robot.getDigitalSensors()
# buttons
btn_soft, btn_scr_up, btn_start, btn_back, btn_scr_down = self.robot.getButtons()
# publish everything
self.odomBroadcaster.sendTransform((self.x, self.y, 0), (quaternion.x, quaternion.y, quaternion.z,
quaternion.w), then, "base_footprint", "odom")
self.scanPub.publish(scan)
self.odomPub.publish(odom)
button_enum = ("Soft_Button", "Up_Button", "Start_Button", "Back_Button", "Down_Button")
sensor_enum = ("Left_Side_Bumper", "Right_Side_Bumper", "Left_Bumper", "Right_Bumper")
for idx, b in enumerate((btn_soft, btn_scr_up, btn_start, btn_back, btn_scr_down)):
if b == 1:
button.value = b
button.name = button_enum[idx]
self.buttonPub.publish(button)
for idx, b in enumerate((lsb, rsb, lfb, rfb)):
if b == 1:
sensor.value = b
sensor.name = sensor_enum[idx]
self.sensorPub.publish(sensor)
# wait, then do it again
r.sleep()
# shut down
self.robot.setBacklight(0)
self.robot.setLED("Off")
self.robot.setLDS("off")
self.robot.setTestMode("off")
def sign(self,a):
if a>=0:
return 1
else:
return-1
def cmdVelCb(self,req):
x = req.linear.x * 1000
th = req.angular.z * (self.robot.base_width/2)
k = max(abs(x-th),abs(x+th))
# sending commands higher than max speed will fail
if k > self.robot.max_speed:
x = x*self.robot.max_speed/k; th = th*self.robot.max_speed/k
self.cmd_vel = [int(x-th), int(x+th)]
class NeatoNode:
def __init__(self):
""" Start up connection to the Neato Robot. """
rospy.init_node('neato')
self.CMD_RATE =2
self.port = rospy.get_param('~port', "/dev/ttyUSB0")
rospy.loginfo("Using port: %s" % self.port)
self.robot = Botvac(self.port)
rospy.Subscriber("cmd_vel", Twist, self.cmdVelCb)
self.scanPub = rospy.Publisher('base_scan', LaserScan, queue_size=10)
self.odomPub = rospy.Publisher('odom', Odometry, queue_size=10)
self.buttonPub = rospy.Publisher('button', Button, queue_size=10)
self.sensorPub = rospy.Publisher('sensor', Sensor, queue_size=10)
self.odomBroadcaster = TransformBroadcaster()
self.cmd_vel = [0, 0]
self.old_vel = self.cmd_vel
def spin(self):
encoders = [0, 0]
self.x = 0 # position in xy plane
self.y = 0
self.th = 0
then = rospy.Time.now()
# things that don't ever change
scan_link = rospy.get_param('~frame_id', 'base_laser_link')
scan = LaserScan(header=rospy.Header(frame_id=scan_link))
scan.angle_min =0.0
scan.angle_max =359.0*pi/180.0
scan.angle_increment =pi/180.0
scan.range_min = 0.020
scan.range_max = 5.0
odom = Odometry(header=rospy.Header(frame_id="odom"), child_frame_id='base_footprint')
button = Button()
sensor = Sensor()
self.robot.setBacklight(1)
self.robot.setLED("Green")
# main loop of driver
r = rospy.Rate(20)
cmd_rate= self.CMD_RATE
while not rospy.is_shutdown():
# notify if low batt
#if self.robot.getCharger() < 10:
# print "battery low " + str(self.robot.getCharger()) + "%"
# get motor encoder values
left, right = self.robot.getMotors()
cmd_rate = cmd_rate-1
if cmd_rate ==0:
# send updated movement commands
#if self.cmd_vel != self.old_vel or self.cmd_vel == [0,0]:
# max(abs(self.cmd_vel[0]),abs(self.cmd_vel[1])))
#self.robot.setMotors(self.cmd_vel[0], self.cmd_vel[1], (abs(self.cmd_vel[0])+abs(self.cmd_vel[1]))/2)
self.robot.setMotors(self.cmd_vel[0], self.cmd_vel[1], max(abs(self.cmd_vel[0]),abs(self.cmd_vel[1])))
cmd_rate = self.CMD_RATE
self.old_vel = self.cmd_vel
# prepare laser scan
scan.header.stamp = rospy.Time.now()
self.robot.requestScan()
scan.ranges = self.robot.getScanRanges()
# now update position information
dt = (scan.header.stamp - then).to_sec()
then = scan.header.stamp
d_left = (left - encoders[0])/1000.0
d_right = (right - encoders[1])/1000.0
encoders = [left, right]
#print d_left, d_right, encoders
dx = (d_left+d_right)/2
dth = (d_right-d_left)/(self.robot.base_width/1000.0)
x = cos(dth)*dx
y = -sin(dth)*dx
self.x += cos(self.th)*x - sin(self.th)*y
self.y += sin(self.th)*x + cos(self.th)*y
self.th += dth
#print self.x,self.y,self.th
# prepare tf from base_link to odom
quaternion = Quaternion()
quaternion.z = sin(self.th/2.0)
quaternion.w = cos(self.th/2.0)
# prepare odometry
odom.header.stamp = rospy.Time.now()
odom.pose.pose.position.x = self.x
odom.pose.pose.position.y = self.y
odom.pose.pose.position.z = 0
odom.pose.pose.orientation = quaternion
odom.twist.twist.linear.x = dx/dt
odom.twist.twist.angular.z = dth/dt
# sensors
lsb, rsb, lfb, rfb = self.robot.getDigitalSensors()
# buttons
btn_soft, btn_scr_up, btn_start, btn_back, btn_scr_down = self.robot.getButtons()
# publish everything
self.odomBroadcaster.sendTransform((self.x, self.y, 0), (quaternion.x, quaternion.y, quaternion.z,
quaternion.w), then, "base_footprint", "odom")
self.scanPub.publish(scan)
self.odomPub.publish(odom)
button_enum = ("Soft_Button", "Up_Button", "Start_Button", "Back_Button", "Down_Button")
sensor_enum = ("Left_Side_Bumper", "Right_Side_Bumper", "Left_Bumper", "Right_Bumper")
for idx, b in enumerate((btn_soft, btn_scr_up, btn_start, btn_back, btn_scr_down)):
if b == 1:
button.value = b
button.name = button_enum[idx]
self.buttonPub.publish(button)
for idx, b in enumerate((lsb, rsb, lfb, rfb)):
if b == 1:
sensor.value = b
sensor.name = sensor_enum[idx]
self.sensorPub.publish(sensor)
# wait, then do it again
r.sleep()
# shut down
self.robot.setBacklight(0)
self.robot.setLED("Off")
self.robot.setLDS("off")
self.robot.setTestMode("off")
def sign(self,a):
if a>=0:
return 1
else:
return-1
def cmdVelCb(self,req):
x = req.linear.x * 1000
th = req.angular.z * (self.robot.base_width/2)
k = max(abs(x-th),abs(x+th))
# sending commands higher than max speed will fail
if k > self.robot.max_speed:
x = x*self.robot.max_speed/k; th = th*self.robot.max_speed/k
self.cmd_vel = [int(x-th), int(x+th)]
