def __init__(self):
print("init")
port = rospy.get_param('/brown/irobot_create_2_1/port', "/dev/rfcomm0")
self.create = Create(port)
self.bump = False
self.hz = 30
self.rate = 1. / self.hz
self.speed = 200
self.turn = 50
self.distance = 85
self.threshold = .5
self.angle = 18
self.lock = Lock()
self.packetPub = rospy.Publisher('sensorPacket', SensorPacket)
self.odomPub = rospy.Publisher('odom', Odometry)
self.odomBroadcaster = TransformBroadcaster()
self.then = datetime.now()
self.x = 0
self.y = 0
self.th = 0
self.fields = [
'wheeldropCaster', 'wheeldropLeft', 'wheeldropRight', 'bumpLeft',
'bumpRight', 'wall', 'cliffLeft', 'cliffFronLeft',
'cliffFrontRight', 'cliffRight', 'virtualWall', 'infraredByte',
'advance', 'play', 'distance', 'angle', 'chargingState', 'voltage',
'current', 'batteryTemperature', 'batteryCharge',
'batteryCapacity', 'wallSignal', 'cliffLeftSignal',
'cliffFrontLeftSignal', 'cliffFrontRightSignal',
'cliffRightSignal', 'homeBase', 'internalCharger', 'songNumber',
'songPlaying'
]
self.create.update = self.sense
def __init__(self):
port = rospy.get_param('/brown/irobot_create_2_1/port', "/dev/ttyUSB0")
self.create = Create(port)
self.packetPub = rospy.Publisher('sensorPacket', SensorPacket)
self.odomPub = rospy.Publisher('odom',Odometry)
self.odomBroadcaster = TransformBroadcaster()
self.fields = ['wheeldropCaster','wheeldropLeft','wheeldropRight','bumpLeft','bumpRight','wall','cliffLeft','cliffFronLeft','cliffFrontRight','cliffRight','virtualWall','infraredByte','advance','play','distance','angle','chargingState','voltage','current','batteryTemperature','batteryCharge','batteryCapacity','wallSignal','cliffLeftSignal','cliffFrontLeftSignal','cliffFrontRightSignal','cliffRightSignal','homeBase','internalCharger','songNumber','songPlaying']
self.then = datetime.now()
self.x = 0
self.y = 0
self.th = 0
#self.create.update = self.sense
self.create.update = None
def __init__(self):
print("init")
port = rospy.get_param('/brown/irobot_create_2_1/port', "/dev/rfcomm0")
self.create=Create(port)
self.bump=False
self.hz=30
self.rate = 1. / self.hz
self.speed = 200
self.turn = 50
self.distance = 85
self.threshold = .5
self.angle = 18
self.lock = Lock()
self.packetPub = rospy.Publisher('sensorPacket', SensorPacket)
self.odomPub=rospy.Publisher('odom', Odometry)
self.odomBroadcaster=TransformBroadcaster()
self.then=datetime.now()
self.x=0
self.y=0
self.th=0
self.fields = ['wheeldropCaster','wheeldropLeft','wheeldropRight','bumpLeft','bumpRight','wall','cliffLeft','cliffFronLeft','cliffFrontRight','cliffRight','virtualWall','infraredByte','advance','play','distance','angle','chargingState','voltage','current','batteryTemperature','batteryCharge','batteryCapacity','wallSignal','cliffLeftSignal','cliffFrontLeftSignal','cliffFrontRightSignal','cliffRightSignal','homeBase','internalCharger','songNumber','songPlaying']
self.create.update = self.sense
def __init__(self):
# If /create/use_host_name is True, the topic names used by
# this driver will be /hostname/cmd_vel, /hostname/odom, etc.
self.hn = HName(usename = rospy.get_param('/create/use_host_name', False))
port = rospy.get_param('/brown/irobot_create_2_1/port', "/dev/ttyUSB0")
self.create = Create(port)
self.packetPub = rospy.Publisher(self.hn.topic('sensorPacket'), SensorPacket)
self.odomPub = rospy.Publisher(self.hn.topic('odom'),Odometry)
self.odomBroadcaster = TransformBroadcaster()
self.fields = ['wheeldropCaster','wheeldropLeft','wheeldropRight','bumpLeft','bumpRight','wall','cliffLeft','cliffFronLeft','cliffFrontRight','cliffRight','virtualWall','infraredByte','advance','play','distance','angle','chargingState','voltage','current','batteryTemperature','batteryCharge','batteryCapacity','wallSignal','cliffLeftSignal','cliffFrontLeftSignal','cliffFrontRightSignal','cliffRightSignal','homeBase','internalCharger','songNumber','songPlaying']
self.then = datetime.now()
self.x = 0
self.y = 0
self.th = 0
self.idealTh = 0
self.create.update = self.sense
# SW
self.create.storeSong(2,67,32,74,32,72,11,71,11,69,11,79,32,74,32,72,11,71,11,69,11,79,32,74,32,72,11,71,11,72,11,69,32)
# CE3K
self.create.storeSong(3,74,16,81,24,83,24,79,24,67,32,74,40)
# HN
self.create.storeSong(4,74,64,78,20,75,20,74,20,78,56,81,17,79,17,78,17,79,48,82,14,81,14,79,14,78,28,75,32,74,40)
# Js
self.create.storeSong(5,42,32,43,32,42,32,43,32,42,32,43,32,42,32,43,32)
# ROLA
self.create.storeSong(6,64,24,65,8,67,16,72,40,62,24,64,8,65,48,67,24,69,8,71,16,77,40,69,24,71,10,72,24,74,24,76,48)
# JJMD
self.create.storeSong(7,79,12,81,12,83,12,86,12,84,12,84,12,88,12,86,12,86,12,91,12,90,12,91,12,86,12,83,12,79,40)
# SaaHC
self.create.storeSong(8,84,25,79,18,79,12,81,25,79,40,83,28,84,12)
# Angry men
self.create.storeSong(9,64,24,62,12,60,24,62,12,64,24,65,12,67,36,64,12,62,12,60,12,59,24,57,12,59,24,60,12,55,48)
# IGR
self.create.storeSong(10,77,24,79,24,82,24,84,40)
#,84,24,82,24,79,24,77,40,77,24,79,24,82,24,84,18,87,18,84,10,86,32,84,42)
self.create.storeSong(11,50,10,51,10)
self.create.storeSong(12,51,10,50,10)
self.create.storeSong(13,52,10,51,10,50,10)
self.create.storeSong(14,53,10,54,10,55,10)
self.create.storeSong(15,54,10,54,10)
def __init__(self):
port = rospy.get_param('/brown/irobot_create/port', "/dev/ttyUSB0")
self.create = Create(port)
self.packetPub = rospy.Publisher('/sensorPacket', SensorPacket, queue_size=10)
self.odomPub = rospy.Publisher('/odom',Odometry, queue_size=10)
self.odomBroadcaster = TransformBroadcaster()
self.fields = ['wheeldropCaster','wheeldropLeft','wheeldropRight','bumpLeft','bumpRight','wall','cliffLeft','cliffFronLeft','cliffFrontRight','cliffRight','virtualWall','infraredByte','advance','play','distance','angle','chargingState','voltage','current','batteryTemperature','batteryCharge','batteryCapacity','wallSignal','cliffLeftSignal','cliffFrontLeftSignal','cliffFrontRightSignal','cliffRightSignal','homeBase','internalCharger','songNumber','songPlaying']
self.then = datetime.now()
self.x = 0
self.y = 0
self.th = 0
self.create.update = self.sense
def go(self, host):
port = 50000
backlog = 5
self.size = 1024
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.sock.bind((host,port))
self.sock.listen(backlog)
print "Trying to connect to Panda"
self.panda = Create(tty="COM3")
#self.panda = PandaDummy()
self.started = False
if self.panda:
print "Connected to Panda"
print "Waiting for client on", self.ip
else:
print "Problem with Create"
sys.exit(1)
self.timer = Timer(CHECKDROPTIME, checkDrop, [self])
self.timer.start()
while True:
self.mainLoop()
class CreateDriver:
def __init__(self):
port = rospy.get_param('/brown/irobot_create_2_1/port', "/dev/ttyUSB0")
self.create = Create(port)
self.packetPub = rospy.Publisher('sensorPacket',
SensorPacket,
queue_size=10)
self.odomPub = rospy.Publisher('odom', Odometry, queue_size=10)
self.odomBroadcaster = TransformBroadcaster()
self.fields = [
'wheeldropCaster', 'wheeldropLeft', 'wheeldropRight', 'bumpLeft',
'bumpRight', 'wall', 'cliffLeft', 'cliffFronLeft',
'cliffFrontRight', 'cliffRight', 'virtualWall', 'infraredByte',
'advance', 'play', 'distance', 'angle', 'chargingState', 'voltage',
'current', 'batteryTemperature', 'batteryCharge',
'batteryCapacity', 'wallSignal', 'cliffLeftSignal',
'cliffFrontLeftSignal', 'cliffFrontRightSignal',
'cliffRightSignal', 'homeBase', 'internalCharger', 'songNumber',
'songPlaying'
]
self.then = datetime.now()
self.x = 0
self.y = 0
self.th = 0
self.create.update = self.sense
def start(self):
self.create.start()
self.then = datetime.now()
def stop(self):
self.create.stop()
def sense(self):
now = datetime.now()
elapsed = now - self.then
self.then = now
elapsed = float(elapsed.seconds) + elapsed.microseconds / 1000000.
d = self.create.d_distance / 1000.
th = self.create.d_angle * pi / 180
dx = d / elapsed
dth = th / elapsed
if (d != 0):
x = cos(th) * d
y = -sin(th) * d
self.x = self.x + (cos(self.th) * x - sin(self.th) * y)
self.y = self.y + (sin(self.th) * x + cos(self.th) * y)
if (th != 0):
self.th = self.th + th
quaternion = Quaternion()
quaternion.x = 0.0
quaternion.y = 0.0
quaternion.z = sin(self.th / 2)
quaternion.w = cos(self.th / 2)
self.odomBroadcaster.sendTransform(
(self.x, self.y, 0),
(quaternion.x, quaternion.y, quaternion.z, quaternion.w),
rospy.Time.now(), "base_link", "odom")
odom = Odometry()
odom.header.stamp = rospy.Time.now()
odom.header.frame_id = "odom"
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.child_frame_id = "base_link"
odom.twist.twist.linear.x = dx
odom.twist.twist.linear.y = 0
odom.twist.twist.angular.z = dth
self.odomPub.publish(odom)
packet = SensorPacket()
for field in self.fields:
packet.__setattr__(field, self.create.__getattr__(field))
self.packetPub.publish(packet)
def brake(self, req):
if (req.brake):
self.create.brake()
return BrakeResponse(True)
def circle(self, req):
if (req.clear):
self.create.clear()
self.create.forwardTurn(req.speed, req.radius)
return CircleResponse(True)
def demo(self, req):
self.create.demo(req.demo)
return DemoResponse(True)
def leds(self, req):
self.create.leds(req.advance, req.play, req.color, req.intensity)
return LedsResponse(True)
def tank(self, req):
if (req.clear):
self.create.clear()
self.create.tank(req.left, req.right)
return TankResponse(True)
def turn(self, req):
if (req.clear):
self.create.clear()
self.create.turn(req.turn)
return TurnResponse(True)
def twist(self, req):
x = req.linear.x * 1000.
th = req.angular.z
if (x == 0):
th = th * 180 / pi
speed = (8 * pi * th) / 9
self.create.left(int(speed))
elif (th == 0):
x = int(x)
self.create.tank(x, x)
else:
self.create.forwardTurn(int(x), int(x / th))
class CreateDriver:
def __init__(self):
port = rospy.get_param('~port', "/dev/ttyUSB0")
self.create = Create(port)
self.packetPub = rospy.Publisher('sensorPacket', SensorPacket)
self.odomPub = rospy.Publisher('odom', Odometry)
self.odomBroadcaster = TransformBroadcaster()
self.fields = [
'wheeldropCaster', 'wheeldropLeft', 'wheeldropRight', 'bumpLeft',
'bumpRight', 'wall', 'cliffLeft', 'cliffFronLeft',
'cliffFrontRight', 'cliffRight', 'virtualWall', 'infraredByte',
'advance', 'play', 'distance', 'angle', 'chargingState', 'voltage',
'current', 'batteryTemperature', 'batteryCharge',
'batteryCapacity', 'wallSignal', 'cliffLeftSignal',
'cliffFrontLeftSignal', 'cliffFrontRightSignal',
'cliffRightSignal', 'homeBase', 'internalCharger', 'songNumber',
'songPlaying', 'x', 'y', 'theta', 'chargeLevel'
]
self.then = datetime.now()
self.x = 0
self.y = 0
self.th = 0
self.create.update = self.sense
self.inDock = False
self.chargeLevel = 0
def start(self):
self.create.start()
self.then = datetime.now()
def stop(self):
self.create.stop()
def sense(self):
now = datetime.now()
elapsed = now - self.then
self.then = now
elapsed = float(elapsed.seconds) + elapsed.microseconds / 1000000.
d = self.create.d_distance / 1000.
th = self.create.d_angle * pi / 180
dx = d / elapsed
dth = th / elapsed
if (d != 0):
x = cos(th) * d
y = -sin(th) * d
self.x = self.x + (cos(self.th) * x - sin(self.th) * y)
self.y = self.y + (sin(self.th) * x + cos(self.th) * y)
if (th != 0):
self.th = self.th + th
quaternion = Quaternion()
quaternion.x = 0.0
quaternion.y = 0.0
quaternion.z = sin(self.th / 2)
quaternion.w = cos(self.th / 2)
self.odomBroadcaster.sendTransform(
(self.x, self.y, 0),
(quaternion.x, quaternion.y, quaternion.z, quaternion.w),
rospy.Time.now(), "base_link", "odom")
odom = Odometry()
odom.header.stamp = rospy.Time.now()
odom.header.frame_id = "odom"
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.child_frame_id = "base_link"
odom.twist.twist.linear.x = dx
odom.twist.twist.linear.y = 0
odom.twist.twist.angular.z = dth
self.odomPub.publish(odom)
packet = SensorPacket()
for field in self.fields[:-4]:
packet.__setattr__(field, self.create.__getattr__(field))
self.chargeLevel = float(packet.batteryCharge) / float(
packet.batteryCapacity)
packet.__setattr__('x', self.x)
packet.__setattr__('y', self.y)
packet.__setattr__('theta', self.th)
packet.__setattr__('chargeLevel', self.chargeLevel)
self.packetPub.publish(packet)
if packet.homeBase:
self.inDock = True
else:
self.inDock = False
def circle(self, req):
self.create.forwardTurn(req.speed, req.radius)
return CircleResponse(True)
def demo(self, req):
self.create.demo(req.demo)
return DemoResponse(True)
def leds(self, req):
self.create.leds(req.advance, req.play, req.color, req.intensity)
return LedsResponse(True)
def tank(self, req):
self.create.tank(req.left, req.right)
return TankResponse(True)
def turn(self, req):
if (req.clear):
self.create.clear()
self.create.turn(req.turn)
return TurnResponse(True)
def dock(self, req):
""" req.charge = 0: dock and charge
= 1: wake up from charging
= 2: dock and wake up immediately """
if req.charge == 2:
self.create.restart()
return DockResponse(True)
self.create.brake()
self.create.demo(1)
while (not self.inDock):
pass
if req.charge == 0:
rospy.sleep(3)
self.create.restart()
return DockResponse(True)
""" Added summer 2012 """
def opCode(self, opCode):
self.create.send(opCode)
def twist(self, req):
x = req.linear.x * 1000.
th = req.angular.z
print(x, th)
if (x == 0):
th = th * 180 / pi
speed = (8 * pi * th) / 9
self.create.left(int(speed))
elif (th == 0):
x = int(x)
self.create.tank(x, x)
else:
self.create.forwardTurn(int(x), int(x / th))
def song(self, req):
self.create.playFullSong(req.notes, req.durations)
return SongResponse(True)
class CreateDriver:
def __init__(self):
port = rospy.get_param('/irobot/serial_port', "/dev/ttyAMA0")
self.autodock = rospy.get_param('/irobot/autodock', 0.0)
self.create = Create(port)
self.packetPub = rospy.Publisher('sensorPacket', SensorPacket)
self.odomPub = rospy.Publisher('odom',Odometry)
self.odomBroadcaster = TransformBroadcaster()
self.fields = ['wheeldropCaster','wheeldropLeft','wheeldropRight','bumpLeft','bumpRight','wall','cliffLeft','cliffFronLeft','cliffFrontRight','cliffRight','virtualWall','infraredByte','advance','play','distance','angle','chargingState','voltage','current','batteryTemperature','batteryCharge','batteryCapacity','wallSignal','cliffLeftSignal','cliffFrontLeftSignal','cliffFrontRightSignal','cliffRightSignal','homeBase','internalCharger','songNumber','songPlaying']
self.then = datetime.now()
self.x = 0
self.y = 0
self.th = 0
self.create.update = self.sense
self.docking = False
def start(self):
self.create.start()
self.then = datetime.now()
def stop(self):
self.create.stop()
def sense(self):
now = datetime.now()
elapsed = now - self.then
self.then = now
elapsed = float(elapsed.seconds) + elapsed.microseconds/1000000.
d = self.create.d_distance / 1000.
th = self.create.d_angle*pi/180
dx = d / elapsed
dth = th / elapsed
if (d != 0):
x = cos(th)*d
y = -sin(th)*d
self.x = self.x + (cos(self.th)*x - sin(self.th)*y)
self.y = self.y + (sin(self.th)*x + cos(self.th)*y)
if (th != 0):
self.th = self.th + th
quaternion = Quaternion()
quaternion.x = 0.0
quaternion.y = 0.0
quaternion.z = sin(self.th/2)
quaternion.w = cos(self.th/2)
self.odomBroadcaster.sendTransform(
(self.x, self.y, 0),
(quaternion.x, quaternion.y, quaternion.z, quaternion.w),
rospy.Time.now(),
"base_link",
"odom"
)
odom = Odometry()
odom.header.stamp = rospy.Time.now()
odom.header.frame_id = "odom"
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.child_frame_id = "base_link"
odom.twist.twist.linear.x = dx
odom.twist.twist.linear.y = 0
odom.twist.twist.angular.z = dth
self.odomPub.publish(odom)
packet = SensorPacket()
for field in self.fields:
packet.__setattr__(field,self.create.__getattr__(field))
self.packetPub.publish(packet)
charge_level = float(packet.batteryCharge) / float(packet.batteryCapacity)
if (self.docking and packet.homeBase and charge_level > 0.95):
self.docking = False
self.create.reset()
rospy.sleep(1)
self.create.start()
elif (not self.docking and charge_level < self.autodock):
self.create.demo(1)
self.docking = True
def brake(self,req):
if (req.brake):
self.create.brake()
return BrakeResponse(True)
def circle(self,req):
if (req.clear):
self.create.clear()
self.create.forwardTurn(req.speed,req.radius)
return CircleResponse(True)
def demo(self,req):
self.create.demo(req.demo)
return DemoResponse(True)
def leds(self,req):
self.create.leds(req.advance,req.play,req.color,req.intensity)
return LedsResponse(True)
def tank(self,req):
if (req.clear):
self.create.clear()
self.create.tank(req.left,req.right)
return TankResponse(True)
def turn(self,req):
if (req.clear):
self.create.clear()
self.create.turn(req.turn)
return TurnResponse(True)
def dock(self,req):
self.create.demo(1)
self.docking = True
return DockResponse(True)
def twist(self,req):
x = req.linear.x*1000.
th = req.angular.z
if (x == 0):
th = th*180/pi
speed = (8*pi*th)/9
self.create.left(int(speed))
elif (th == 0):
x = int(x)
self.create.tank(x,x)
else:
self.create.forwardTurn(int(x),int(x/th))
class Server:
def __init__(self):
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.connect(('google.com', 0))
self.ip = s.getsockname()[0]
def go(self, host):
port = 50000
backlog = 5
self.size = 1024
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.sock.bind((host,port))
self.sock.listen(backlog)
print "Trying to connect to Panda"
self.panda = Create(tty="COM3")
#self.panda = PandaDummy()
self.started = False
if self.panda:
print "Connected to Panda"
print "Waiting for client on", self.ip
else:
print "Problem with Create"
sys.exit(1)
self.timer = Timer(CHECKDROPTIME, checkDrop, [self])
self.timer.start()
while True:
self.mainLoop()
def mainLoop(self):
client, address = self.sock.accept()
data = client.recv(self.size)
if data == CONNECT:
print "Got client"
client.send(ALLOK)
elif data == START:
if self.started:
print "Reset"
self.panda.reset()
else:
print "Starting"
self.started = True
self.panda.start()
client.send(ALLOK)
elif data == FORWARD:
if self.started:
self.panda.tank(-SPEED,-SPEED)
client.send(ALLOK)
else:
client.send(NOTSTARTED)
elif data == BACKWARD:
if self.started:
self.panda.tank(SPEED,SPEED)
client.send(ALLOK)
else:
client.send(NOTSTARTED)
elif data == RIGHT:
if self.started:
self.panda.right(TURNSPEED)
client.send(ALLOK)
else:
client.send(NOTSTARTED)
elif data == LEFT:
if self.started:
self.panda.left(TURNSPEED)
client.send(ALLOK)
else:
client.send(NOTSTARTED)
elif data == BRAKE:
if self.started:
self.panda.brake()
client.send(ALLOK)
else:
client.send(NOTSTARTED)
elif data == SHUTDOWN:
print "Got shutdown...shutting down"
if self.timer:
self.timer.cancel()
self.panda.stop()
self.started = False
client.send(ALLOK)
sys.exit(0)
else:
client.send(NOGOOD)
client.close()
def cos(model, sample):
a = 0.0
b = 0.0
c = 0.0
for i in xrange(0, 30):
for j in xrange(0, 3):
a = a + model[i][j] * sample[i][j]
b = b + model[i][j] * model[i][j]
c = c + sample[i][j] * sample[i][j]
return 1.0 - (a / (sqrt(b) * sqrt(c)))
#create = Create("/dev/rfcomm0")
create = Create()
a = cwiid.Wiimote()
allLEDS = cwiid.LED1_ON ^ cwiid.LED2_ON ^ cwiid.LED3_ON ^ cwiid.LED4_ON
a.led = allLEDS
a.rpt_mode = cwiid.RPT_ACC ^ cwiid.RPT_BTN
cal = a.get_acc_cal(0)
zero = cal[0]
one = cal[1]
print zero, one
create.start()
global bump, rate, lock, speed, turn, create, distance, angle, norms, threshold
bump = False
hz = 30
rate = 1. / hz
speed = 200
turn = 50
distance = 85
threshold = .5
angle = 18
lock = Lock()
rospy.init_node('discreteController')
port = rospy.get_param('/brown/irobot_create_2_1/port', "/dev/ttyUSB0")
print(port)
create = Create(port)
service = rospy.Service('act', Act, act)
try:
sleep(1)
create.start()
sleep(1)
norms = [create.cliffLeftSignal, create.cliffFrontLeftSignal, create.cliffFrontRightSignal, create.cliffRightSignal]
print "\nrunning...\n"
rospy.spin()
except:
pass
finally:
create.stop()
print "\nstopping..."
class discreteCreateDriver:
def __init__(self):
print("init")
port = rospy.get_param('/brown/irobot_create_2_1/port', "/dev/rfcomm0")
self.create = Create(port)
self.bump = False
self.hz = 30
self.rate = 1. / self.hz
self.speed = 200
self.turn = 50
self.distance = 85
self.threshold = .5
self.angle = 18
self.lock = Lock()
self.packetPub = rospy.Publisher('sensorPacket', SensorPacket)
self.odomPub = rospy.Publisher('odom', Odometry)
self.odomBroadcaster = TransformBroadcaster()
self.then = datetime.now()
self.x = 0
self.y = 0
self.th = 0
self.fields = [
'wheeldropCaster', 'wheeldropLeft', 'wheeldropRight', 'bumpLeft',
'bumpRight', 'wall', 'cliffLeft', 'cliffFronLeft',
'cliffFrontRight', 'cliffRight', 'virtualWall', 'infraredByte',
'advance', 'play', 'distance', 'angle', 'chargingState', 'voltage',
'current', 'batteryTemperature', 'batteryCharge',
'batteryCapacity', 'wallSignal', 'cliffLeftSignal',
'cliffFrontLeftSignal', 'cliffFrontRightSignal',
'cliffRightSignal', 'homeBase', 'internalCharger', 'songNumber',
'songPlaying'
]
self.create.update = self.sense
def start(self):
self.create.start()
self.then = datetime.now()
self.norms = [
self.create.cliffLeftSignal, self.create.cliffFrontLeftSignal,
self.create.cliffFrontRightSignal, self.create.cliffRightSignal
]
def stop(self):
self.create.stop()
def sense(self):
print("sensing\n")
now = datetime.now()
elapsed = now - self.then
self.then = now
elapsed = float(elapsed.seconds) + elapsed.microseconds / 1000000.
d = self.create.d_distance / 1000.
th = self.create.d_angle * pi / 180
dx = d / elapsed
dth = th / elapsed
if (d != 0):
x = cos(th) * d
y = -sin(th) * d
self.x = self.x + (cos(self.th) * x - sin(self.th) * y)
self.y = self.y + (sin(self.th) * x + cos(self.th) * y)
if (th != 0):
self.th = self.th + th
quaternion = Quaternion()
quaternion.x = 0.0
quaternion.y = 0.0
quaternion.z = sin(self.th / 2)
quaternion.w = cos(self.th / 2)
self.odomBroadcaster.sendTransform(
(self.x, self.y, 0),
(quaternion.x, quaternion.y, quaternion.z, quaternion.w),
rospy.Time.now(), "base_link", "odom")
odom = Odometry()
odom.header.frame_id = "odom"
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.child_frame_id = "base_link"
odom.twist.twist.linear.x = dx
odom.twist.twist.linear.y = 0
odom.twist.twist.angular.z = dth
self.odomPub.publish(odom)
packet = SensorPacket()
for field in self.fields:
packet.__setattr__(field, self.create.__getattr__(field))
self.packetPub.publish(packet)
def collision(self):
#global create, norms, threshold
sensors = [
self.create.cliffLeftSignal, self.create.cliffFrontLeftSignal,
self.create.cliffFrontRightSignal, self.create.cliffRightSignal
]
# the first paren after the colon should eventually be an abs, we removed it so that the dirty (formerly taped spots) could be
# properly ignored h <-- abs under the h
if (len(
filter(
lambda x:
(float(x[0]) - float(x[1])) / float(x[1]) > self.threshold,
zip(sensors, self.norms))) or self.create.bumpLeft
or self.create.bumpRight):
return True
else:
return False
def act(self, action):
#global bump, rate, lock, speed, turn, create, distance, angle, norms, threshold
if (not self.lock.acquire(0)):
return
move = action.action
if (move == 1):
self.create.clear()
while (self.create.distance != 0):
sleep(self.rate)
self.create.tank(self.speed, self.speed)
while (self.create.distance < self.distance):
#print map(lambda x: abs(float(x[0])-float(x[1]))/float(x[0]),zip(sensors,norms))
if (self.collision()):
self.create.tank(-self.speed, -self.speed)
while (self.create.distance > 0):
sleep(self.rate)
break
sleep(self.rate)
elif (move == 0 or move == 2):
self.create.clear()
while (self.create.angle != 0):
sleep(self.rate)
toPos = 1
if (move == 0):
toPos = -toPos
self.create.turn(self.turn * toPos)
if (not self.collision()):
while (self.create.angle * toPos * -1 < self.angle):
if (self.collision()):
break
sleep(self.rate)
else:
while (self.collision()):
sleep(self.rate)
self.create.brake()
sleep(self.rate * 10)
self.lock.release()
return ActResponse(True)
class discreteCreateDriver:
def __init__(self):
print("init")
port = rospy.get_param('/brown/irobot_create_2_1/port', "/dev/rfcomm0")
self.create=Create(port)
self.bump=False
self.hz=30
self.rate = 1. / self.hz
self.speed = 200
self.turn = 50
self.distance = 85
self.threshold = .5
self.angle = 18
self.lock = Lock()
self.packetPub = rospy.Publisher('sensorPacket', SensorPacket)
self.odomPub=rospy.Publisher('odom', Odometry)
self.odomBroadcaster=TransformBroadcaster()
self.then=datetime.now()
self.x=0
self.y=0
self.th=0
self.fields = ['wheeldropCaster','wheeldropLeft','wheeldropRight','bumpLeft','bumpRight','wall','cliffLeft','cliffFronLeft','cliffFrontRight','cliffRight','virtualWall','infraredByte','advance','play','distance','angle','chargingState','voltage','current','batteryTemperature','batteryCharge','batteryCapacity','wallSignal','cliffLeftSignal','cliffFrontLeftSignal','cliffFrontRightSignal','cliffRightSignal','homeBase','internalCharger','songNumber','songPlaying']
self.create.update = self.sense
def start(self):
self.create.start()
self.then=datetime.now()
self.norms = [self.create.cliffLeftSignal, self.create.cliffFrontLeftSignal, self.create.cliffFrontRightSignal, self.create.cliffRightSignal]
def stop(self):
self.create.stop()
def sense(self):
print("sensing\n")
now = datetime.now()
elapsed = now - self.then
self.then = now
elapsed = float(elapsed.seconds) + elapsed.microseconds/1000000.
d = self.create.d_distance / 1000.
th = self.create.d_angle*pi/180
dx = d / elapsed
dth = th / elapsed
if (d != 0):
x = cos(th)*d
y = -sin(th)*d
self.x = self.x + (cos(self.th)*x - sin(self.th)*y)
self.y = self.y + (sin(self.th)*x + cos(self.th)*y)
if (th != 0):
self.th = self.th + th
quaternion = Quaternion()
quaternion.x = 0.0
quaternion.y = 0.0
quaternion.z = sin(self.th/2)
quaternion.w = cos(self.th/2)
self.odomBroadcaster.sendTransform(
(self.x, self.y, 0),
(quaternion.x, quaternion.y, quaternion.z, quaternion.w),
rospy.Time.now(),
"base_link",
"odom"
)
odom = Odometry()
odom.header.frame_id = "odom"
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.child_frame_id = "base_link"
odom.twist.twist.linear.x = dx
odom.twist.twist.linear.y = 0
odom.twist.twist.angular.z = dth
self.odomPub.publish(odom)
packet = SensorPacket()
for field in self.fields:
packet.__setattr__(field,self.create.__getattr__(field))
self.packetPub.publish(packet)
def collision(self):
#global create, norms, threshold
sensors = [self.create.cliffLeftSignal, self.create.cliffFrontLeftSignal, self.create.cliffFrontRightSignal, self.create.cliffRightSignal]
# the first paren after the colon should eventually be an abs, we removed it so that the dirty (formerly taped spots) could be
# properly ignored h <-- abs under the h
if (len(filter(lambda x : (float(x[0])-float(x[1]))/float(x[1]) > self.threshold,zip(sensors,self.norms))) or self.create.bumpLeft or self.create.bumpRight):
return True
else:
return False
def act(self, action):
#global bump, rate, lock, speed, turn, create, distance, angle, norms, threshold
if (not self.lock.acquire(0)):
return
move = action.action
if (move == 1):
self.create.clear()
while(self.create.distance != 0):
sleep(self.rate)
self.create.tank(self.speed,self.speed)
while(self.create.distance < self.distance):
#print map(lambda x: abs(float(x[0])-float(x[1]))/float(x[0]),zip(sensors,norms))
if (self.collision()):
self.create.tank(-self.speed,-self.speed)
while(self.create.distance > 0):
sleep(self.rate)
break
sleep(self.rate)
elif (move == 0 or move == 2):
self.create.clear()
while(self.create.angle != 0):
sleep(self.rate)
toPos = 1
if (move == 0):
toPos = -toPos
self.create.turn(self.turn*toPos)
if (not self.collision()):
while(self.create.angle*toPos*-1 < self.angle):
if (self.collision()):
break
sleep(self.rate)
else:
while(self.collision()):
sleep(self.rate)
self.create.brake()
sleep(self.rate*10)
self.lock.release()
return ActResponse(True)
class CreateDriver:
def __init__(self):
# If /create/use_host_name is True, the topic names used by
# this driver will be /hostname/cmd_vel, /hostname/odom, etc.
self.hn = HName(usename = rospy.get_param('/create/use_host_name', False))
port = rospy.get_param('/brown/irobot_create_2_1/port', "/dev/ttyUSB0")
self.create = Create(port)
self.packetPub = rospy.Publisher(self.hn.topic('sensorPacket'), SensorPacket)
self.odomPub = rospy.Publisher(self.hn.topic('odom'),Odometry)
self.odomBroadcaster = TransformBroadcaster()
self.fields = ['wheeldropCaster','wheeldropLeft','wheeldropRight','bumpLeft','bumpRight','wall','cliffLeft','cliffFronLeft','cliffFrontRight','cliffRight','virtualWall','infraredByte','advance','play','distance','angle','chargingState','voltage','current','batteryTemperature','batteryCharge','batteryCapacity','wallSignal','cliffLeftSignal','cliffFrontLeftSignal','cliffFrontRightSignal','cliffRightSignal','homeBase','internalCharger','songNumber','songPlaying']
self.then = datetime.now()
self.x = 0
self.y = 0
self.th = 0
self.idealTh = 0
self.create.update = self.sense
# SW
self.create.storeSong(2,67,32,74,32,72,11,71,11,69,11,79,32,74,32,72,11,71,11,69,11,79,32,74,32,72,11,71,11,72,11,69,32)
# CE3K
self.create.storeSong(3,74,16,81,24,83,24,79,24,67,32,74,40)
# HN
self.create.storeSong(4,74,64,78,20,75,20,74,20,78,56,81,17,79,17,78,17,79,48,82,14,81,14,79,14,78,28,75,32,74,40)
# Js
self.create.storeSong(5,42,32,43,32,42,32,43,32,42,32,43,32,42,32,43,32)
# ROLA
self.create.storeSong(6,64,24,65,8,67,16,72,40,62,24,64,8,65,48,67,24,69,8,71,16,77,40,69,24,71,10,72,24,74,24,76,48)
# JJMD
self.create.storeSong(7,79,12,81,12,83,12,86,12,84,12,84,12,88,12,86,12,86,12,91,12,90,12,91,12,86,12,83,12,79,40)
# SaaHC
self.create.storeSong(8,84,25,79,18,79,12,81,25,79,40,83,28,84,12)
# Angry men
self.create.storeSong(9,64,24,62,12,60,24,62,12,64,24,65,12,67,36,64,12,62,12,60,12,59,24,57,12,59,24,60,12,55,48)
# IGR
self.create.storeSong(10,77,24,79,24,82,24,84,40)
#,84,24,82,24,79,24,77,40,77,24,79,24,82,24,84,18,87,18,84,10,86,32,84,42)
self.create.storeSong(11,50,10,51,10)
self.create.storeSong(12,51,10,50,10)
self.create.storeSong(13,52,10,51,10,50,10)
self.create.storeSong(14,53,10,54,10,55,10)
self.create.storeSong(15,54,10,54,10)
def start(self,req = True):
if (req == True or req.start):
self.create.start()
self.then = datetime.now()
return StartResponse(True)
def stop(self,req = True):
if (req == True or req.stop):
self.create.stop()
return StopResponse(True)
def sense(self):
now = datetime.now()
elapsed = now - self.then
self.then = now
elapsed = float(elapsed.seconds) + elapsed.microseconds/1000000.
d = self.create.d_distance / 1000.
th = self.create.d_angle*pi/180
dx = d / elapsed
dth = th / elapsed
if (abs(self.idealTh) < .5):
dth = self.idealTh
if (d != 0):
x = cos(th)*d
y = sin(th)*d # TODO: Question this negative sign?
self.x = self.x + (cos(self.th)*x - sin(self.th)*y)
self.y = self.y + (sin(self.th)*x + cos(self.th)*y)
if (th != 0):
self.th = self.th + th
quaternion = Quaternion()
quaternion.x = 0.0
quaternion.y = 0.0
quaternion.z = sin(self.th/2)
quaternion.w = cos(self.th/2)
self.odomBroadcaster.sendTransform(
(self.x, self.y, 0),
(quaternion.x, quaternion.y, quaternion.z, quaternion.w),
rospy.Time.now(),
"base_link",
"odom"
)
odom = Odometry()
odom.header.stamp = rospy.Time.now()
odom.header.frame_id = "odom"
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.child_frame_id = "base_link"
odom.twist.twist.linear.x = dx
odom.twist.twist.linear.y = 0
odom.twist.twist.angular.z = dth
self.odomPub.publish(odom)
packet = SensorPacket()
for field in self.fields:
packet.__setattr__(field,self.create.__getattr__(field))
self.packetPub.publish(packet)
def brake(self,req):
if (req.brake):
self.create.brake()
return BrakeResponse(True)
def reset(self,req):
if (req.reset):
self.create.reset()
return ResetResponse(True)
def circle(self,req):
if (req.clear):
self.create.clear()
self.create.forwardTurn(req.speed,req.radius)
return CircleResponse(True)
def demo(self,req):
self.create.demo(req.demo)
return DemoResponse(True)
def leds(self,req):
self.create.leds(req.advance,req.play,req.color,req.intensity)
return LedsResponse(True)
def loadsong(self,req):
self.create.storeSong(req.songNumber, req.song)
return SongResponse(True)
def playsong(self,req):
self.create.playSong(req.songNumber)
return PlaySongResponse(True)
def tank(self,req):
if (req.clear):
self.create.clear()
self.create.tank(req.left,req.right)
return TankResponse(True)
def turn(self,req):
if (req.clear):
self.create.clear()
self.create.turn(req.turn)
return TurnResponse(True)
def twist(self,req):
x = req.linear.x * 1000. # ie, linear speed passed in as m/s, internally mm/s
th = req.angular.z # angular speed in rad/s
if (th == 0):
x = int(x)
self.create.tank(x,x)
else:
distanceBetweenWheels = 260 # mm (CONSTANT)
wheelDistanceFromCenter = distanceBetweenWheels / 2
turnRadius = x/th # from perspective of robot center
lwSpeed=int((turnRadius-wheelDistanceFromCenter)*th)
rwSpeed=int((turnRadius+wheelDistanceFromCenter)*th)
self.create.tank(lwSpeed,rwSpeed)
global bump, rate, lock, speed, turn, create, distance, angle, norms, threshold
bump = False
hz = 30
rate = 1. / hz
speed = 200
turn = 50
distance = 85
threshold = .5
angle = 18
lock = Lock()
rospy.init_node('discreteController')
port = rospy.get_param('/brown/irobot_create_2_1/port', "/dev/ttyUSB0")
print(port)
create = Create(port)
service = rospy.Service('act', Act, act)
try:
sleep(1)
create.start()
sleep(1)
norms = [
create.cliffLeftSignal, create.cliffFrontLeftSignal,
create.cliffFrontRightSignal, create.cliffRightSignal
]
print "\nrunning...\n"
rospy.spin()
except:
pass
finally:
