def callback_gps(gps): global x_charge global y_charge global z_charge global battery_constant global battery_percentage global old_location_x global old_location_y global old_location_z time_begin = rospy.Time(1075) time_now = rospy.get_rostime() if time_now<time_begin: print('not_yet_started') old_location_x=gps.pose.position.x old_location_y=gps.pose.position.y old_location_z=gps.pose.position.z battery = BatteryState() battery_percentage=100 battery.percentage = battery_percentage battery_pub.publish(battery) if time_now>time_begin: print('started') new_location_x = gps.pose.position.x new_location_y = gps.pose.position.y new_location_z = gps.pose.position.z percentage_loss=battery_constant*(math.pow((new_location_x-old_location_x), 2) + math.pow((new_location_y-old_location_y), 2)+ math.pow((new_location_z-old_location_z), 2)) print("percentage lossp", percentage_loss) battery_percentage=battery_percentage-percentage_loss charge_diff=(math.pow((new_location_x-x_charge), 2) + math.pow((new_location_y-y_charge), 2)+ math.pow((new_location_z-z_charge), 2)) if battery_percentage < 0.1: battery_percentage = 0 print("battery drained") if charge_diff<0.5: battery_percentage=battery_percentage+0.1 if battery_percentage>100: battery_percentage=100 print("fully charged") battery = BatteryState() battery.percentage = battery_percentage battery_pub.publish(battery) old_location_x=new_location_x old_location_y=new_location_y old_location_z=new_location_z print('battery_percentage', battery_percentage)
def publish_battery_state_msg(self): battery_state_msg = BatteryState() battery_state_msg.header.stamp = rospy.get_rostime() battery_state_msg.voltage = self.battery_mv / 1000.0 # estimate remaining battery life # 1.2v * 6 batteries = 7.2 v # 6v is depletion point battery_state_msg.percentage = (battery_state_msg.voltage - 6.0) / 1.2 battery_state_msg.present = True if self.battery_mv > 0 else False self.battery_pub.publish(battery_state_msg)
def get_battery_state(self, battery): """Get the current state of a battery.""" battery_config = BATTERIES[battery] battery_state = BatteryState() battery_voltage = PiPuckBatteryServer.get_battery_voltage(battery_config["path"]) self._battery_history[battery].insert(0, battery_voltage) self._battery_history[battery] = self._battery_history[battery][:HISTORY_MAX] split_point = len(self._battery_history[battery]) // 2 head_half = self._battery_history[battery][:split_point] tail_half = self._battery_history[battery][split_point:] try: battery_delta = (sum(head_half) / len(head_half)) - (sum(tail_half) / len(tail_half)) except ZeroDivisionError: battery_delta = 0.0 battery_state.voltage = battery_voltage battery_state.present = True battery_state.design_capacity = battery_config["design_capacity"] battery_state.power_supply_technology = battery_config["power_supply_technology"] average_battery_voltage = sum(self._battery_history[battery]) / len( self._battery_history[battery]) if average_battery_voltage >= battery_config["max_voltage"] * CHARGED_VOLTAGE_MARGIN: battery_state.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_FULL elif battery_delta < 0: battery_state.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING elif battery_delta > 0: battery_state.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_CHARGING else: battery_state.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_NOT_CHARGING if average_battery_voltage >= battery_config["max_voltage"] * OVER_VOLTAGE_MARGIN: battery_state.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_OVERVOLTAGE elif average_battery_voltage <= battery_config["min_voltage"]: # It is unclear whether this means "out of charge" or "will never charge again", we # assume here that it means "out of charge". battery_state.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_DEAD else: battery_state.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_GOOD battery_state.percentage = clamp( (average_battery_voltage - battery_config["min_voltage"]) / (battery_config["max_voltage"] - battery_config["min_voltage"]), 1.0, 0.0) battery_state.current = NAN battery_state.charge = NAN battery_state.capacity = NAN battery_state.location = battery_config["location"] return battery_state
def publish(self): battery_msg = BatteryState() battery_msg.percentage = 1.0 pose_msg = PoseStamped() pose_msg.header.frame_id = "map" pose_msg.pose.position.x = self.id pose_msg.pose.position.y = self.id pose_msg.pose.position.z = 0 self.battery_pub.publish(battery_msg) self.pose_pub.publish(pose_msg) self.state_pub.publish(self.state_msg)
def update_state(self): voltage_dec_, current_dec_, charge_dec_, percentage_dec_, temperature_dec_, power_supply_status_dec_, cell_voltage_dec_ = self.read_bms( ) battery_msg = BatteryState() # Power supply status constants # uint8 POWER_SUPPLY_STATUS_UNKNOWN = 0 # uint8 POWER_SUPPLY_STATUS_CHARGING = 1 # uint8 POWER_SUPPLY_STATUS_DISCHARGING = 2 # uint8 POWER_SUPPLY_STATUS_NOT_CHARGING = 3 # uint8 POWER_SUPPLY_STATUS_FULL = 4 # Power supply health constants # uint8 POWER_SUPPLY_HEALTH_UNKNOWN = 0 # uint8 POWER_SUPPLY_HEALTH_GOOD = 1 # uint8 POWER_SUPPLY_HEALTH_OVERHEAT = 2 # uint8 POWER_SUPPLY_HEALTH_DEAD = 3 # uint8 POWER_SUPPLY_HEALTH_OVERVOLTAGE = 4 # uint8 POWER_SUPPLY_HEALTH_UNSPEC_FAILURE = 5 # uint8 POWER_SUPPLY_HEALTH_COLD = 6 # uint8 POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE = 7 # uint8 POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE = 8 # Power supply technology (chemistry) constants # uint8 POWER_SUPPLY_TECHNOLOGY_UNKNOWN = 0 # uint8 POWER_SUPPLY_TECHNOLOGY_NIMH = 1 # uint8 POWER_SUPPLY_TECHNOLOGY_LION = 2 # uint8 POWER_SUPPLY_TECHNOLOGY_LIPO = 3 # uint8 POWER_SUPPLY_TECHNOLOGY_LIFE = 4 # uint8 POWER_SUPPLY_TECHNOLOGY_NICD = 5 # uint8 POWER_SUPPLY_TECHNOLOGY_LIMN = 6 # Populate battery parameters. battery_msg.voltage = voltage_dec_ # Voltage in Volts (Mandatory) battery_msg.current = current_dec_ # Negative when discharging (A) (If unmeasured NaN) battery_msg.charge = charge_dec_ # Current charge in Ah (If unmeasured NaN) battery_msg.capacity = 150 # Capacity in Ah (last full capacity) (If unmeasured NaN) battery_msg.design_capacity = 150 # Capacity in Ah (design capacity) (If unmeasured NaN) battery_msg.percentage = percentage_dec_ # Charge percentage on 0 to 1 range (If unmeasured NaN) battery_msg.power_supply_status = int( power_supply_status_dec_ ) # The charging status as reported. Values defined above battery_msg.power_supply_health = 0 # The battery health metric. Values defined above battery_msg.power_supply_technology = battery_msg.POWER_SUPPLY_TECHNOLOGY_LIFE # The battery chemistry. Values defined above battery_msg.present = True # True if the battery is present battery_msg.cell_voltage = cell_voltage_dec_ self.pub_batt_state.publish(battery_msg)
def battery_republisher(): global MotorDriverPort #print "Battery republisher launched" bat_status = BatteryState() BAT_FULL = 6*4.2 BAT_MIN = 6*3.3 bat_status.header.frame_id = 'robot' bat_status.current = float('nan') bat_status.charge = float('nan') bat_status.capacity = float('nan') bat_status.design_capacity = float('nan') bat_status.power_supply_technology = BatteryState().POWER_SUPPLY_TECHNOLOGY_LIPO for cell in range(0, 6): bat_status.cell_voltage.append(float('nan')) bat_status.location = 'Main Battery' bat_status.serial_number = "NA" while 1: MotorDriverPort.write('GetBatTotal\n') sleep(0.05) recv_data = MotorDriverPort.readline() print recv_data # print recv_data bat_status.header.stamp = rospy.Time.now() try: bat_status.voltage = float(recv_data) bat_status.percentage = bat_status.voltage/BAT_FULL bat_status.present = bat_status.voltage<BAT_FULL and bat_status.voltage>BAT_MIN battery_pub.publish(bat_status) except: if DEBUG: print "Receive Error" else: pass sleep(0.01)
def _hw_robot_state_cb(self, msg): self._get_wallbanger_state_pub.publish(msg.in_autonomous_mode) batteryMsg = BatteryState() if msg.robot_power_state == RobotState.ESTOP_ACTIVE: batteryMsg.voltage = float('nan') batteryMsg.percentage = float('nan') else: batteryMsg.voltage = msg.voltage # volts batteryMsg.percentage = max(0, min(msg.voltage / 12.0, 1)) # volts / volts-nominal batteryMsg.current = float('nan') batteryMsg.charge = float('nan') batteryMsg.capacity = float('nan') batteryMsg.design_capacity = 14.0 #AH (2x batteries) batteryMsg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_UNKNOWN batteryMsg.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_UNKNOWN batteryMsg.power_supply_technology = BatteryState.POWER_SUPPLY_TECHNOLOGY_UNKNOWN batteryMsg.present = True self._battery_pub.publish(batteryMsg) self._watchdog_tripped_pub.publish(msg.watchdog_tripped) strMsg = String() if msg.robot_power_state == RobotState.POWER_GOOD: strMsg.data = "power-good" elif msg.robot_power_state == RobotState.POWER_LOW: strMsg.data = "power-low" elif msg.robot_power_state == RobotState.POWER_EMERGENCY: strMsg.data = "power-emergency" elif msg.robot_power_state == RobotState.ESTOP_ACTIVE: strMsg.data = "estop-active" self._robot_state_pub.publish(strMsg)
def _create_battery_msg(self): # Check if data is available if 'SYS_STATUS' not in self.get_data(): raise Exception('no SYS_STATUS data') if 'BATTERY_STATUS' not in self.get_data(): raise Exception('no BATTERY_STATUS data') bat = BatteryState() self._create_header(bat) #http://docs.ros.org/jade/api/sensor_msgs/html/msg/BatteryState.html bat.voltage = self.get_data()['SYS_STATUS']['voltage_battery'] / 1000 bat.current = self.get_data()['SYS_STATUS']['current_battery'] / 100 bat.percentage = self.get_data( )['BATTERY_STATUS']['battery_remaining'] / 100 self.pub.set_data('/battery', bat)
def on_new_telemetry(self, message): for servo in message.servos: self.voltages[servo.id] = servo.voltage if len(self.voltages) == SERVO_COUNT: voltages = self.voltages.values() self.voltages.clear() voltage = max(voltages) battery_state = BatteryState() battery_state.header.stamp = rospy.Time.now() battery_state.voltage = voltage battery_state.current = float("nan") battery_state.charge = float("nan") battery_state.capacity = float("nan") battery_state.design_capacity = float("nan") battery_state.percentage = 100 - (MAX_VOLTAGE - voltage) / ( MAX_VOLTAGE - MIN_VOLTAGE) * 100 battery_state.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_DISCHARGING battery_state.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_UNKNOWN battery_state.power_supply_technology = BatteryState.POWER_SUPPLY_TECHNOLOGY_LIPO battery_state.present = True battery_state.cell_voltage = [float("nan")] * 3 battery_state.location = "Primary batter bay" battery_state.serial_number = "N/A" self.battery_publisher.publish(battery_state) # skip the first check so that you don't get a warning if battery is already bellow some value if self.first_check: self.first_check = False self.lowest_recorded_voltage = voltage return if voltage < 10.2: if self.last_critical_voltage_warning + self.critical_voltage_warning_period < rospy.Time.now( ): self.speech_publisher.publish("battery_critical") self.face_color_publisher.publish("flash:red") self.last_critical_voltage_warning = rospy.Time.now() elif voltage < 11 and self.lowest_recorded_voltage >= 11: self.speech_publisher.publish("battery_below_11") elif voltage < 12 and self.lowest_recorded_voltage >= 12: self.speech_publisher.publish("battery_below_12") if voltage < self.lowest_recorded_voltage: self.lowest_recorded_voltage = voltage
def publish_state(self): state = BatteryState() state.header.frame_id = "usv" state.header.stamp = rospy.Time.now() state.voltage = self.voltage state.current = self.power_battery state.charge = self.charging_current #state.capacity = self.design_capacity * (self.percentage / 100.0) state.design_capacity = self.design_capacity state.percentage = (self.percentage/100.0) state.power_supply_status = self.state_charging state.power_supply_health = BatteryState.POWER_SUPPLY_HEALTH_UNKNOWN state.power_supply_technology = BatteryState.POWER_SUPPLY_TECHNOLOGY_LIPO state.present = True state.cell_voltage = [self.voltage] state.location = "Slot 1" state.serial_number = "SUSV LIPO 3000mAH" self.pub.publish(state)
def _create_battery_msg(self,topic): """ Create battery message from ROV data Raises: Exception: No data available """ # Check if data is available if 'SYS_STATUS' not in self.get_data(): raise Exception('no SYS_STATUS data') if 'BATTERY_STATUS' not in self.get_data(): raise Exception('no BATTERY_STATUS data') bat = BatteryState() self._create_header(bat) #http://docs.ros.org/jade/api/sensor_msgs/html/msg/BatteryState.html bat.voltage = self.get_data()['SYS_STATUS']['voltage_battery']/1000 bat.current = self.get_data()['SYS_STATUS']['current_battery']/100 bat.percentage = self.get_data()['BATTERY_STATUS']['battery_remaining']/100 self.pub_topics[topic][3].publish(bat)
def batRead(): bat_dir = "/sys/devices/platform/7000c400.i2c/i2c-1/1-0042/iio_device/" volt0_in = open(bat_dir + "in_voltage0_input") curr0_in = open(bat_dir + "in_current0_input") rospy.init_node('BatRead') pub = rospy.Publisher('jetson_battery', BatteryState, queue_size=20) rate = rospy.Rate(5) # 5hz while not rospy.is_shutdown(): try: # Read voltage in mV, store in V voltage = float(volt0_in.read().strip()) / 1000 volt0_in.seek(0) # Read voltage in mA, store in A current = float(curr0_in.read().strip()) / 1000 curr0_in.seek(0) except (IOError, ValueError) as e: rospy.logerr("I/O error: {0}".format(e)) else: bat_msg = BatteryState() bat_msg.header.stamp = rospy.Time.now() bat_msg.voltage = voltage bat_msg.current = -current bat_msg.charge = float('NaN') bat_msg.capacity = float('NaN') bat_msg.design_capacity = float('NaN') bat_msg.percentage = float('NaN') bat_msg.power_supply_status = bat_msg.POWER_SUPPLY_STATUS_UNKNOWN bat_msg.power_supply_health = bat_msg.POWER_SUPPLY_HEALTH_UNKNOWN bat_msg.power_supply_technology = bat_msg.POWER_SUPPLY_TECHNOLOGY_UNKNOWN bat_msg.present = True rospy.logdebug('New battery message: %s' % bat_msg) pub.publish(bat_msg) rate.sleep()
def test__on_receive_battery_state_over_threshold(self, mocked_rospy, mocked_mqtt): mocked_rospy.get_param.return_value = utils.get_attrs_params() mocked_mqtt_client = mocked_mqtt.Client.return_value with freezegun.freeze_time('2018-01-02T03:04:05.123456+09:00'): bridge = AttrsBridge().connect() battery = BatteryState() battery.voltage = 0.1 battery.current = 0.2 battery.charge = 0.3 battery.capacity = 0.4 battery.design_capacity = 0.5 battery.percentage = 0.6 with freezegun.freeze_time('2018-01-02T03:04:06.123457+09:00'): bridge._on_receive_battery_state(battery) payload = '2018-01-02T03:04:06.123457+0900|voltage|0.1|current|0.2|charge|0.3|capacity|0.4|' \ 'design_capacity|0.5|percentage|0.6' mocked_mqtt_client.publish.assert_called_once_with( '/robot/turtlebot3/attrs', payload)
def step(self): if self._rnet._battery is not None: bs_msg = BatteryState() bs_msg.header.stamp = rospy.Time.now() bs_msg.percentage = 1.0 * self._rnet._battery self._bat_pub.publish(bs_msg) if (rospy.Time.now() - self._last_cmd).to_sec() > self._cmd_timeout: # zero-out velocity commands self._cmd_vel.linear.x = 0 self._cmd_vel.angular.z = 0 self._rnet._cmd_vel = self._cmd_vel if self._disable_chair_joy: cf = self._joy_frame else: cf = self._rnet.recvfrom(timeout=0.1) #16) if cf is not None: cf = aid_str(cf) # TODO : calibrate to m/s and scale accordingly # currently, v / w are expressed in fractions where 1 = max fw, -1 = max bw v = np.clip(self._v_scale * self._cmd_vel.linear.x, -1.0, 1.0) w = np.clip(self._w_scale * self._cmd_vel.angular.z, -1.0, 1.0) if cf == self._joy_frame: # for joy : y=fw, x=turn; 0-256 cmd_y = 0x100 + int(v * 100) & 0xFF cmd_x = 0x100 + int(-w * 100) & 0xFF if np.abs(v) > self._min_v or np.abs(w) > self._min_w: self._rnet.send(self._joy_frame + '#' + dec2hex(cmd_x, 2) + dec2hex(cmd_y, 2)) else: # below thresh, stop self._rnet.send(self._joy_frame + '#' + dec2hex(0, 2) + dec2hex(0, 2))
def _status_to_battery_(status): """ Converts a ds4_driver/Status to sensor_msgs/BatteryState Reference: https://www.psdevwiki.com/ps4/DualShock_4#Specifications :param status: :type status: Status :return: """ msg = BatteryState() msg.header = status.header msg.percentage = status.battery_percentage msg.voltage = Controller.MAX_VOLTAGE * msg.percentage msg.current = float('NaN') msg.charge = float('NaN') msg.capacity = float('NaN') msg.design_capacity = 1.0 if not status.plug_usb: msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_NOT_CHARGING elif not status.battery_full_charging: msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_CHARGING elif status.battery_full_charging: msg.power_supply_status = BatteryState.POWER_SUPPLY_STATUS_FULL msg.power_supply_technology = BatteryState.POWER_SUPPLY_TECHNOLOGY_LION return msg
def step(self): if self._rnet._battery is not None: bs_msg = BatteryState() bs_msg.header.stamp = rospy.Time.now() bs_msg.percentage = 1.0 * self._rnet._battery self._bat_pub.publish(bs_msg) now = rospy.Time.now() if (now - self._last_cmd).to_sec() > self._cmd_timeout: # zero-out velocity commands #print((now - self._last_cmd).to_sec(), 'timeout') self._cmd_vel.linear.x = 0 self._cmd_vel.angular.z = 0 if self._disable_chair_joy: cf = self._joy_frame else: cf = self._rnet.recvfrom(timeout=0.1) #16) if cf is not None: cf = aid_str(cf) # TODO : calibrate to m/s and scale accordingly # currently, v / w are expressed in fractions where 1 = max fw, -1 = max bw v = self._v_scale * self._cmd_vel.linear.x w = self._w_scale * self._cmd_vel.angular.z v1 = int(np.clip(v * 100, -100, 100)) w1 = int(np.clip(w * 100, -100, 100)) v2 = int(np.clip(v * 25, -25, 25)) w2 = int(np.clip(w * 25, -25, 25)) if cf == self._joy_frame: # for joy : y=fw, x=turn; 0-256 cmd_y1 = 0x100 + int(v1) & 0xFF cmd_x1 = 0x100 - int(w1) & 0xFF cmd_y2 = 0x100 + int(v2) & 0xFF cmd_x2 = 0x100 - int(w2) & 0xFF try: if np.abs(v) > self._min_v or np.abs(w) > self._min_w: #self._rnet.send(self._joy_frame + '#' + dec2hex(cmd_x, 2) + dec2hex(cmd_y, 2)) self._rnet.send('02001100' + '#' + dec2hex(cmd_x1, 2) + dec2hex(cmd_y1, 2)) self._rnet.send('02000200' + '#' + dec2hex(cmd_x2, 2) + dec2hex(cmd_y2, 2)) else: # below thresh, stop #self._rnet.send(self._joy_frame + '#' + dec2hex(0, 2) + dec2hex(0, 2)) self._rnet.send('02001100' + '#' + dec2hex(0, 2) + dec2hex(0, 2)) self._rnet.send('02000200' + '#' + dec2hex(0, 2) + dec2hex(0, 2)) except Exception as e: #print e #print self._cmd_vel #print cmd_x, cmd_y #print dec2hex(cmd_x, 2), dec2hex(cmd_y, 2) raise e # heartbeat if (now - self._last_hb).to_sec() > 0.1: self._rnet.send('03C30F0F#87878787878787') self._last_hb = now
#!/usr/bin/env python import random import rospy from sensor_msgs.msg import BatteryState if __name__ == "__main__": rospy.init_node("fake_battery", anonymous=True) fake_battery_publisher = rospy.Publisher("battery_status", BatteryState, queue_size=10) r = rospy.Rate(1) r.sleep() while not rospy.is_shutdown(): battery_msg = BatteryState() battery_msg.percentage = round(random.uniform(0.95, 0.98), 2) fake_battery_publisher.publish(battery_msg) r.sleep()
def bs_err_inj(tb3_name): #Create error-injected topic rospy.init_node('batterystate_err_inj') ######################################### #Create new message batterystate_msg = BatteryState() #Fill message with values batterystate_msg.header.seq = 0 batterystate_msg.header.stamp.secs = 0 batterystate_msg.header.stamp.nsecs = 0 batterystate_msg.header.frame_id = "" batterystate_msg.voltage = 0.0 batterystate_msg.current = 0.0 batterystate_msg.charge = 0.0 batterystate_msg.capacity = 0.0 batterystate_msg.design_capacity = 0.0 batterystate_msg.percentage = 0.0 batterystate_msg.power_supply_status = 0 batterystate_msg.power_supply_health = 0 batterystate_msg.power_supply_technology = 0 batterystate_msg.bool = 1 batterystate_msg.cell_voltage = [] batterystate_msg.location = "" batterystate_msg.serial_number = "" ######################################### rate = rospy.Rate(50) #Publish message into new topic while not rospy.is_shutdown(): my_pub = rospy.Publisher(tb3_name + 'batterystate_err_inj', BatteryState, queue_size=10) my_sub = rospy.Subscriber(tb3_name + 'battery_state', BatteryState, listener) ######################################### #INJECT ERRORS HERE batterystate_msg.header.seq = actual_seq batterystate_msg.header.stamp.secs = actual_secs batterystate_msg.header.stamp.nsecs = actual_nsecs batterystate_msg.header.frame_id = actual_frameid batterystate_msg.voltage = actual_voltage batterystate_msg.current = actual_current batterystate_msg.charge = actual_charge batterystate_msg.capacity = actual_capacity batterystate_msg.design_capacity = actual_designcapacity batterystate_msg.percentage = actual_percentage batterystate_msg.power_supply_status = actual_powersupplystatus batterystate_msg.power_supply_health = actual_powersupplyhealth batterystate_msg.power_supply_technology = actual_powersupplytechnology batterystate_msg.present = actual_present batterystate_msg.cell_voltage = actual_cellvoltage batterystate_msg.location = actual_location batterystate_msg.serial_number = actual_serialnumber ######################################### my_pub.publish(batterystate_msg) rate.sleep() rospy.spin()
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') # main loop of driver r = rospy.Rate(20) cycle_count = 0 self.bumperEngaged = None while not rospy.is_shutdown(): # Emergency shutdown checks. if int(self.chargerValues["FuelPercent"]) < 10: rospy.logerr( "Neato battery is less than 10%. Terminating Node") rospy.signal_shutdown( "Neato battery is less than 10%. Terminating Node") break if self.chargerValues["BatteryFailure"] == "1": rospy.logerr("Neato battery failure. Terminating Node") rospy.signal_shutdown( "Neato battery failure. Terminating Node") break if self.chargerValues["EmptyFuel"] == "1": rospy.logerr("Neato battery is empty. Terminating Node") break # get motor encoder values left, right = self.getMotors() if not self.lifted and cycle_count % 2 == 0: # bumper engaged procedure # left or right bumpers if self.moving_forward and self.bumperEngaged == 0: # left bump self.setMotors(-100, -110, MAX_SPEED / 2) if self.moving_forward and self.bumperEngaged == 1: # right bump self.setMotors(-110, -100, MAX_SPEED / 2) # all other bumpers elif self.moving_forward and self.bumperEngaged > 1: self.setMotors(-100, -100, MAX_SPEED / 2) # undock proceedure if self.cmd_vel[0] and self.chargerValues["ChargingActive"]: self.setMotors(-400, -400, MAX_SPEED / 2) else: # send updated movement commands self.setMotors( self.cmd_vel[0], self.cmd_vel[1], max(abs(self.cmd_vel[0]), abs(self.cmd_vel[1]))) self.old_vel = self.cmd_vel # prepare laser scan scan.header.stamp = rospy.Time.now() self.getldsscan() scan.ranges, scan.intensities = self.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.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 # read sensors and data # Neato cannot handle reads of all sensors every cycle. # use cycle_count to rate limit the reads or # you will get errors like: # navigation costmap2DROS transform timeout. # Could not get robot pose. if cycle_count % 2 == 0: self.getDigitalSensors() for i, b in enumerate( ("LSIDEBIT", "RSIDEBIT", "LFRONTBIT", "RFRONTBIT")): engaged = None engaged = self.digitalSensors[b] # Bumper Switches self.bumperHandler(b, engaged, i) if cycle_count == 2: self.getAnalogSensors() for i, b in enumerate(("LeftDropInMM", "RightDropInMM", "LeftMagSensor", "RightMagSensor")): engaged = None if i < 2: # Optical Sensors (no drop: ~0-60) engaged = (self.analogSensors[b] > 100) else: # Mag Sensors (no mag: ~ +/-20) engaged = (abs(self.analogSensors[b]) > 20) self.bumperHandler(b, engaged, i) if cycle_count == 1: self.getButtons() # region Publish Button Events for i, b in enumerate( ("BTN_SOFT_KEY", "BTN_SCROLL_UP", "BTN_START", "BTN_BACK", "BTN_SCROLL_DOWN")): engaged = (self.buttons[b] == 1) if engaged != self.state[b]: buttonEvent = ButtonEvent() buttonEvent.button = i buttonEvent.engaged = engaged self.buttonEventPub.publish(buttonEvent) self.state[b] = engaged # endregion Publish Button Info if cycle_count == 3: self.getCharger() # region Publish Battery Info # pulls data from analogSensors and charger info to publish battery state battery = BatteryState() # http://docs.ros.org/en/api/sensor_msgs/html/msg/BatteryState.html power_supply_health = 1 # POWER_SUPPLY_HEALTH_GOOD if self.chargerValues["BatteryOverTemp"]: power_supply_health = 2 # POWER_SUPPLY_HEALTH_OVERHEAT elif self.chargerValues["EmptyFuel"]: power_supply_health = 3 # POWER_SUPPLY_HEALTH_DEAD elif self.chargerValues["BatteryFailure"]: power_supply_health = 5 # POWER_SUPPLY_HEALTH_UNSPEC_FAILURE power_supply_status = 3 # POWER_SUPPLY_STATUS_NOT_CHARGING if self.chargerValues["ChargingActive"]: power_supply_status = 1 # POWER_SUPPLY_STATUS_CHARGING elif (self.chargerValues["FuelPercent"] == 100): power_supply_status = 4 # POWER_SUPPLY_STATUS_FULL battery.voltage = self.analogSensors[ "BatteryVoltageInmV"] // 1000 # battery.temperature = self.analogSensors["BatteryTemp0InC"] battery.current = self.analogSensors["CurrentInmA"] // 1000 # battery.charge # battery.capacity # battery.design_capacity battery.percentage = self.chargerValues["FuelPercent"] battery.power_supply_status = power_supply_status battery.power_supply_health = power_supply_health battery.power_supply_technology = 1 # POWER_SUPPLY_TECHNOLOGY_NIMH battery.present = self.chargerValues['FuelPercent'] > 0 # battery.cell_voltage # battery.cell_temperature # battery.location # battery.serial_number self.batteryPub.publish(battery) # endregion Publish Battery Info self.publishSensors() # region publish lidar and odom 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) # endregion publish lidar and odom # wait, then do it again r.sleep() cycle_count = cycle_count + 1 if cycle_count == 4: cycle_count = 0 # shut down self.setLed(LED.BacklightOff) self.setLed(LED.ButtonOff) self.setLdsRotation("Off") self.testmode("Off")
bsmsg.current = float(li.split(' ')[-1]) elif "battery.voltage" in li: bsmsg.voltage = float(li.split(' ')[-1]) elif "device.serial" in li: serial_number = str(li.split(' ')[-1]) elif "device.input_current" in li: device_input_current = float(li.split(' ')[-1]) elif "device.output_current" in li: device_output_current = float(li.split(' ')[-1]) elif "device.input_voltage" in li: device_input_voltage = float(li.split(' ')[-1]) elif "device.output_voltage" in li: device_output_voltage = float(li.split(' ')[-1]) try: bsmsg.percentage = bmsg.charge / bmsg.capacity except: pass try: if device_input_current - device_output_current > 0.0: bsmsg.power_supply_status = bsmsg.POWER_SUPPLY_STATUS_CHARGING # TODO check for full else: bsmsg.power_supply_status = bsmsg.POWER_SUPPLY_STATUS_DISCHARGING except: pass pub.publish(bsmsg) r.sleep()
# The conversion factor for the battery voltage is then: 1465 / 13.44 = 109.00297619047619 # voltage = (value / 109.00297619047619) else: # simulated value! voltage = demoVoltage # print out pure ADC voltage # rospy.loginfo("Battery: %.1f Volt" % voltage) # completing the ROS message # @SA http://docs.ros.org/jade/api/sensor_msgs/html/msg/BatteryState.html battery_msg.charge = 0.0 battery_msg.capacity = 0.0 battery_msg.design_capacity = 2.2 # 2.2 Ah battery_msg.percentage = 0.0 # 0 to 1! # battery_msg.power_supply_status = POWER_SUPPLY_STATUS_DISCHARGING # battery_msg.power_supply_health = POWER_SUPPLY_HEALTH_GOOD # battery_msg.power_supply_technology = POWER_SUPPLY_TECHNOLOGY_LIPO battery_msg.power_supply_status = 2 battery_msg.power_supply_health = 1 battery_msg.power_supply_technology = 3 battery_msg.present = True battery_msg.cell_voltage = [float(0)] battery_msg.location = "1" # The location into which the battery is inserted. (slot number or plug) battery_msg.serial_number = "1" # this is the battery voltage # @TODO strange, this assignment as to be exactly here... battery_msg.voltage = float(voltage)