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RosAria.cpp
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RosAria.cpp
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#include <stdio.h>
#include <math.h>
#ifdef ADEPT_PKG
#include <Aria.h>
#else
#include <Aria/Aria.h>
#endif
#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
#include "geometry_msgs/Pose.h"
#include "geometry_msgs/PoseStamped.h"
#include <sensor_msgs/PointCloud.h> //for sonar data
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud_conversion.h> // can optionally publish sonar as new type pointcloud2
#include "nav_msgs/Odometry.h"
#include "rosaria/BumperState.h"
#include "tf/tf.h"
#include "tf/transform_listener.h" //for tf::getPrefixParam
#include <tf/transform_broadcaster.h>
#include "tf/transform_datatypes.h"
#include <dynamic_reconfigure/server.h>
#include <rosaria/RosAriaConfig.h>
#include "std_msgs/Float64.h"
#include "std_msgs/Float32.h"
#include "std_msgs/Int8.h"
#include "std_msgs/Bool.h"
#include "std_srvs/Empty.h"
#include "LaserPublisher.h"
#include <sstream>
/** @brief Node that interfaces between ROS and mobile robot base features via ARIA library.
RosAriaNode will use ARIA to connect to a robot controller (configure via
~port parameter), either direct serial connection or over the network. It
runs ARIA's robot communications cycle in a background thread, and
as part of that cycle (a sensor interpretation task which calls RosAriaNode::publish()),
it publishes various topics with newly received robot
data. It also sends velocity commands to the robot when received in the
cmd_vel topic, and handles dynamic_reconfigure and Service requests.
For more information about ARIA see
http://robots.mobilerobots.com/wiki/Aria.
RosAria uses the roscpp client library, see http://www.ros.org/wiki/roscpp for
information, tutorials and documentation.
*/
class RosAriaNode {
public:
RosAriaNode(ros::NodeHandle n);
virtual ~RosAriaNode();
public:
int Setup();
void poseMessageReceived(const nav_msgs::OdometryConstPtr&);
void cmdvel_cb(const geometry_msgs::TwistConstPtr &);
void cmdvel_watchdog(const ros::TimerEvent &event);
//void cmd_enable_motors_cb();
//void cmd_disable_motors_cb();
void spin();
void publish();
void sonarConnectCb();
void dynamic_reconfigureCB(rosaria::RosAriaConfig &config, uint32_t level);
void readParameters();
protected:
double MyCovariance[36];
ros::NodeHandle n;
ros::Publisher pose_pub;
ros::Publisher bumpers_pub;
ros::Publisher sonar_pub;
ros::Publisher sonar_pointcloud2_pub;
ros::Publisher voltage_pub;
ros::Publisher recharge_state_pub;
std_msgs::Int8 recharge_state;
ros::Publisher state_of_charge_pub;
ros::Publisher motors_state_pub;
std_msgs::Bool motors_state;
bool published_motors_state;
ros::Subscriber cmdvel_sub;
ros::Subscriber cmdpos_sub;
ros::ServiceServer enable_srv;
ros::ServiceServer disable_srv;
bool enable_motors_cb(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response);
bool disable_motors_cb(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response);
ros::Time veltime;
ros::Timer cmdvel_watchdog_timer;
ros::Duration cmdvel_timeout;
std::string serial_port;
int serial_baud;
ArRobotConnector *conn;
ArLaserConnector *laserConnector;
ArRobot *robot;
nav_msgs::Odometry position;
rosaria::BumperState bumpers;
ArPose pos;
ArFunctorC<RosAriaNode> myPublishCB;
//ArRobot::ChargeState batteryCharge;
//for odom->base_link transform
tf::TransformBroadcaster odom_broadcaster;
geometry_msgs::TransformStamped odom_trans;
std::string frame_id_odom;
std::string frame_id_base_link;
std::string frame_id_bumper;
std::string frame_id_sonar;
// flag indicating whether sonar was enabled or disabled on the robot
bool sonar_enabled;
// enable and publish sonar topics. set to true when first subscriber connects, set to false when last subscriber disconnects.
bool publish_sonar;
bool publish_sonar_pointcloud2;
// Debug Aria
bool debug_aria;
std::string aria_log_filename;
// Robot Calibration Parameters (see readParameters() function)
int TicksMM, DriftFactor, RevCount; //If TicksMM or RevCount are <0, don't use. If DriftFactor is -99999, don't use (DriftFactor could be 0 or negative).
// dynamic_reconfigure
dynamic_reconfigure::Server<rosaria::RosAriaConfig> *dynamic_reconfigure_server;
// whether to publish aria lasers
bool publish_aria_lasers;
};
void RosAriaNode::readParameters() {
// Robot Parameters. If a parameter was given and is nonzero, set it now.
// Otherwise, get default value for this robot (from getOrigRobotConfig()).
// Parameter values are stored in member variables for possible later use by the user with dynamic reconfigure.
robot->lock();
ros::NodeHandle n_("~");
if (n_.getParam("TicksMM", TicksMM) && TicksMM > 0) {
ROS_INFO("Setting robot TicksMM from ROS Parameter: %d", TicksMM);
robot->comInt(93, TicksMM);
} else {
TicksMM = robot->getOrigRobotConfig()->getTicksMM();
ROS_INFO("This robot's TicksMM parameter: %d", TicksMM);
//n_.setParam( "TicksMM", TicksMM);
}
if (n_.getParam("DriftFactor", DriftFactor) && DriftFactor != -99999) {
ROS_INFO("Setting robot DriftFactor from ROS Parameter: %d", DriftFactor);
robot->comInt(89, DriftFactor);
} else {
DriftFactor = robot->getOrigRobotConfig()->getDriftFactor();
ROS_INFO("This robot's DriftFactor parameter: %d", DriftFactor);
//n_.setParam( "DriftFactor", DriftFactor);
}
if (n_.getParam("RevCount", RevCount) && RevCount > 0) {
ROS_INFO("Setting robot RevCount from ROS Parameter: %d", RevCount);
robot->comInt(88, RevCount);
} else {
RevCount = robot->getOrigRobotConfig()->getRevCount();
ROS_INFO("This robot's RevCount parameter: %d", RevCount);
//n_.setParam( "RevCount", RevCount);
}
robot->unlock();
}
void RosAriaNode::dynamic_reconfigureCB(rosaria::RosAriaConfig &config, uint32_t level) {
//
// Odometry Settings
//
robot->lock();
if (TicksMM != config.TicksMM && config.TicksMM > 0) {
ROS_INFO("Setting TicksMM from Dynamic Reconfigure: %d -> %d ", TicksMM, config.TicksMM);
TicksMM = config.TicksMM;
robot->comInt(93, TicksMM);
}
if (DriftFactor != config.DriftFactor && config.DriftFactor != -99999) {
ROS_INFO("Setting DriftFactor from Dynamic Reconfigure: %d -> %d ", DriftFactor, config.DriftFactor);
DriftFactor = config.DriftFactor;
robot->comInt(89, DriftFactor);
}
if (RevCount != config.RevCount && config.RevCount > 0) {
ROS_INFO("Setting RevCount from Dynamic Reconfigure: %d -> %d ", RevCount, config.RevCount);
RevCount = config.RevCount;
robot->comInt(88, RevCount);
}
//
// Acceleration Parameters
//
int value;
value = config.trans_accel * 1000;
if (value != robot->getTransAccel() && value > 0) {
ROS_INFO("Setting TransAccel from Dynamic Reconfigure: %d", value);
robot->setTransAccel(value);
}
value = config.trans_decel * 1000;
if (value != robot->getTransDecel() && value > 0) {
ROS_INFO("Setting TransDecel from Dynamic Reconfigure: %d", value);
robot->setTransDecel(value);
}
value = config.lat_accel * 1000;
if (value != robot->getLatAccel() && value > 0) {
ROS_INFO("Setting LatAccel from Dynamic Reconfigure: %d", value);
if (robot->getAbsoluteMaxLatAccel() > 0)
robot->setLatAccel(value);
}
value = config.lat_decel * 1000;
if (value != robot->getLatDecel() && value > 0) {
ROS_INFO("Setting LatDecel from Dynamic Reconfigure: %d", value);
if (robot->getAbsoluteMaxLatDecel() > 0)
robot->setLatDecel(value);
}
value = config.rot_accel * 180 / M_PI;
if (value != robot->getRotAccel() && value > 0) {
ROS_INFO("Setting RotAccel from Dynamic Reconfigure: %d", value);
robot->setRotAccel(value);
}
value = config.rot_decel * 180 / M_PI;
if (value != robot->getRotDecel() && value > 0) {
ROS_INFO("Setting RotDecel from Dynamic Reconfigure: %d", value);
robot->setRotDecel(value);
}
robot->unlock();
}
// Called when another node subscribes or unsubscribes from sonar topic.
void RosAriaNode::sonarConnectCb() {
publish_sonar = (sonar_pub.getNumSubscribers() > 0);
publish_sonar_pointcloud2 = (sonar_pointcloud2_pub.getNumSubscribers() > 0);
robot->lock();
if (publish_sonar || publish_sonar_pointcloud2) {
robot->enableSonar();
sonar_enabled = false;
} else if (!publish_sonar && !publish_sonar_pointcloud2) {
robot->disableSonar();
sonar_enabled = true;
}
robot->unlock();
}
RosAriaNode::RosAriaNode(ros::NodeHandle nh) :
n(nh),
serial_port(""), serial_baud(0),
conn(NULL), laserConnector(NULL), robot(NULL),
myPublishCB(this, &RosAriaNode::publish),
sonar_enabled(false), publish_sonar(false), publish_sonar_pointcloud2(false),
debug_aria(false),
TicksMM(-1), DriftFactor(-99999), RevCount(-1),
publish_aria_lasers(true) {
for (int i = 0; i < 36; i++) {
MyCovariance[i] = 0;
}
MyCovariance[0] = 1e-3;
MyCovariance[7] = 1e-3;
MyCovariance[14] = 1e6;
MyCovariance[21] = 1e6;
MyCovariance[28] = 1e6;
MyCovariance[35] = 1e3;
// read in runtime parameters
// port and baud
n.param("port", serial_port, std::string("/dev/ttyUSB0"));
ROS_INFO("RosAria: set port: [%s]", serial_port.c_str());
n.param("baud", serial_baud, 0);
if (serial_baud != 0)
ROS_INFO("RosAria: set serial port baud rate %d", serial_baud);
// handle debugging more elegantly
n.param("debug_aria", debug_aria, false); // default not to debug
n.param("aria_log_filename", aria_log_filename, std::string("Aria.log"));
// whether to connect to lasers using aria
n.param("publish_aria_lasers", publish_aria_lasers, true);
// Get frame_ids to use.
n.param("odom_frame", frame_id_odom, std::string("odom"));
n.param("base_link_frame", frame_id_base_link, std::string("base_link"));
n.param("bumpers_frame", frame_id_bumper, std::string("bumpers"));
n.param("sonar_frame", frame_id_sonar, std::string("sonar"));
// advertise services for data topics
// second argument to advertise() is queue size.
// other argmuments (optional) are callbacks, or a boolean "latch" flag (whether to send current data to new
// subscribers when they subscribe).
// See ros::NodeHandle API docs.
pose_pub = n.advertise<nav_msgs::Odometry>("pose", 1000);
bumpers_pub = n.advertise<rosaria::BumperState>("bumper_state", 1000);
sonar_pub = n.advertise<sensor_msgs::PointCloud>("sonar", 50,
boost::bind(&RosAriaNode::sonarConnectCb, this),
boost::bind(&RosAriaNode::sonarConnectCb, this));
sonar_pointcloud2_pub = n.advertise<sensor_msgs::PointCloud2>("sonar_pointcloud2", 50,
boost::bind(&RosAriaNode::sonarConnectCb, this),
boost::bind(&RosAriaNode::sonarConnectCb, this));
voltage_pub = n.advertise<std_msgs::Float64>("battery_voltage", 1000);
recharge_state_pub = n.advertise<std_msgs::Int8>("battery_recharge_state", 5, true /*latch*/ );
recharge_state.data = -2;
state_of_charge_pub = n.advertise<std_msgs::Float32>("battery_state_of_charge", 100);
motors_state_pub = n.advertise<std_msgs::Bool>("motors_state", 5, true /*latch*/ );
motors_state.data = false;
published_motors_state = false;
// advertise enable/disable services
enable_srv = n.advertiseService("enable_motors", &RosAriaNode::enable_motors_cb, this);
disable_srv = n.advertiseService("disable_motors", &RosAriaNode::disable_motors_cb, this);
veltime = ros::Time::now();
}
RosAriaNode::~RosAriaNode() {
// disable motors and sonar.
robot->disableMotors();
robot->disableSonar();
robot->stopRunning();
robot->waitForRunExit();
Aria::shutdown();
}
int RosAriaNode::Setup() {
// Note, various objects are allocated here which are never deleted (freed), since Setup() is only supposed to be
// called once per instance, and these objects need to persist until the process terminates.
robot = new ArRobot();
ArArgumentBuilder *args = new ArArgumentBuilder(); // never freed
ArArgumentParser *argparser = new ArArgumentParser(args); // Warning never freed
argparser->loadDefaultArguments(); // adds any arguments given in /etc/Aria.args. Useful on robots with unusual serial port or baud rate (e.g. pioneer lx)
// Now add any parameters given via ros params (see RosAriaNode constructor):
// if serial port parameter contains a ':' character, then interpret it as hostname:tcpport
// for wireless serial connection. Otherwise, interpret it as a serial port name.
size_t colon_pos = serial_port.find(":");
if (colon_pos != std::string::npos) {
args->add("-remoteHost"); // pass robot's hostname/IP address to Aria
args->add(serial_port.substr(0, colon_pos).c_str());
args->add("-remoteRobotTcpPort"); // pass robot's TCP port to Aria
args->add(serial_port.substr(colon_pos + 1).c_str());
} else {
args->add("-robotPort %s", serial_port.c_str()); // pass robot's serial port to Aria
}
// if a baud rate was specified in baud parameter
if (serial_baud != 0) {
args->add("-robotBaud %d", serial_baud);
}
if (debug_aria) {
// turn on all ARIA debugging
args->add("-robotLogPacketsReceived"); // log received packets
args->add("-robotLogPacketsSent"); // log sent packets
args->add("-robotLogVelocitiesReceived"); // log received velocities
args->add("-robotLogMovementSent");
args->add("-robotLogMovementReceived");
ArLog::init(ArLog::File, ArLog::Verbose, aria_log_filename.c_str(), true);
}
// Connect to the robot
conn = new ArRobotConnector(argparser, robot); // warning never freed
if (!conn->connectRobot()) {
ROS_ERROR(
"RosAria: ARIA could not connect to robot! (Check ~port parameter is correct, and permissions on port device, or any errors reported above)");
return 1;
}
if (publish_aria_lasers)
laserConnector = new ArLaserConnector(argparser, robot, conn);
// causes ARIA to load various robot-specific hardware parameters from the robot parameter file in /usr/local/Aria/params
if (!Aria::parseArgs()) {
ROS_ERROR("RosAria: ARIA error parsing ARIA startup parameters!");
return 1;
}
readParameters();
// Start dynamic_reconfigure server
dynamic_reconfigure_server = new dynamic_reconfigure::Server<rosaria::RosAriaConfig>;
// Setup Parameter Minimums and maximums
rosaria::RosAriaConfig dynConf_min;
rosaria::RosAriaConfig dynConf_max;
dynConf_max.trans_accel = robot->getAbsoluteMaxTransAccel() / 1000;
dynConf_max.trans_decel = robot->getAbsoluteMaxTransDecel() / 1000;
// TODO: Fix rqt dynamic_reconfigure gui to handle empty intervals
// Until then, set unit length interval.
dynConf_max.lat_accel = ((robot->getAbsoluteMaxLatAccel() > 0.0) ? robot->getAbsoluteMaxLatAccel() : 0.1) / 1000;
dynConf_max.lat_decel = ((robot->getAbsoluteMaxLatDecel() > 0.0) ? robot->getAbsoluteMaxLatDecel() : 0.1) / 1000;
dynConf_max.rot_accel = robot->getAbsoluteMaxRotAccel() * M_PI / 180;
dynConf_max.rot_decel = robot->getAbsoluteMaxRotDecel() * M_PI / 180;
dynConf_min.trans_accel = 0;
dynConf_min.trans_decel = 0;
dynConf_min.lat_accel = 0;
dynConf_min.lat_decel = 0;
dynConf_min.rot_accel = 0;
dynConf_min.rot_decel = 0;
dynConf_min.TicksMM = 0;
dynConf_max.TicksMM = 200;
dynConf_min.DriftFactor = -99999;
dynConf_max.DriftFactor = 32767;
dynConf_min.RevCount = 0;
dynConf_max.RevCount = 65535;
dynamic_reconfigure_server->setConfigMax(dynConf_max);
dynamic_reconfigure_server->setConfigMin(dynConf_min);
rosaria::RosAriaConfig dynConf_default;
dynConf_default.trans_accel = robot->getTransAccel() / 1000;
dynConf_default.trans_decel = robot->getTransDecel() / 1000;
dynConf_default.lat_accel = robot->getLatAccel() / 1000;
dynConf_default.lat_decel = robot->getLatDecel() / 1000;
dynConf_default.rot_accel = robot->getRotAccel() * M_PI / 180;
dynConf_default.rot_decel = robot->getRotDecel() * M_PI / 180;
dynConf_default.TicksMM = 0;
dynConf_default.DriftFactor = -99999;
dynConf_default.RevCount = 0;
dynamic_reconfigure_server->setConfigDefault(dynConf_default);
dynamic_reconfigure_server->setCallback(boost::bind(&RosAriaNode::dynamic_reconfigureCB, this, _1, _2));
// Enable the motors
robot->enableMotors();
// disable sonars on startup
robot->disableSonar();
// callback will be called by ArRobot background processing thread for every SIP data packet received from robot
robot->addSensorInterpTask("ROSPublishingTask", 100, &myPublishCB);
// Initialize bumpers with robot number of bumpers
bumpers.front_bumpers.resize(robot->getNumFrontBumpers());
bumpers.rear_bumpers.resize(robot->getNumRearBumpers());
// Run ArRobot background processing thread
robot->runAsync(true);
// connect to lasers and create publishers
if (publish_aria_lasers) {
ROS_INFO_NAMED("rosaria", "rosaria: Connecting to laser(s) configured in ARIA parameter file(s)...");
if (!laserConnector->connectLasers()) {
ROS_FATAL_NAMED("rosaria", "rosaria: Error connecting to laser(s)...");
return 1;
}
robot->lock();
const std::map<int, ArLaser *> *lasers = robot->getLaserMap();
ROS_INFO_NAMED("rosaria", "rosaria: there are %lu connected lasers", lasers->size());
for (std::map<int, ArLaser *>::const_iterator i = lasers->begin(); i != lasers->end(); ++i) {
ArLaser *l = i->second;
int ln = i->first;
std::cout << "laser " << ln << " name: " << l->getName() << std::endl;
std::string tfname("laser");
if (lasers->size() > 1 || ln > 1) // no number if only one laser which is also laser 1
tfname += ln;
tfname += "_frame";
ROS_INFO_NAMED("rosaria", "rosaria: Creating publisher for laser #%d named %s with tf frame name %s", ln,
l->getName(), tfname.c_str());
new LaserPublisher(l, n, true, tfname);
}
robot->unlock();
ROS_INFO_NAMED("rosaria", "rosaria: Done creating laser publishers");
}
// subscribe to command topics
cmdvel_sub = n.subscribe("cmd_vel", 1, (boost::function<void(const geometry_msgs::TwistConstPtr &)>)
boost::bind(&RosAriaNode::cmdvel_cb, this, _1));
cmdpos_sub = n.subscribe("RosAria/newpose",1,(boost::function<void(const nav_msgs::OdometryConstPtr &)>)
boost::bind(&RosAriaNode::poseMessageReceived, this, _1));
// register a watchdog for cmd_vel timeout
double cmdvel_timeout_param = 0.6;
n.param("cmd_vel_timeout", cmdvel_timeout_param, 0.6);
cmdvel_timeout = ros::Duration(cmdvel_timeout_param);
if (cmdvel_timeout_param > 0.0)
cmdvel_watchdog_timer = n.createTimer(ros::Duration(0.1), &RosAriaNode::cmdvel_watchdog, this);
robot->setTransDecel(1000);
std::cout<<"transDel:"<<robot->getTransDecel()<<" maxtransDel:"<<robot->getAbsoluteMaxTransDecel()<<std::endl;
// robot->moveTo(ArPose(9000,5000,90));
// std::cout<<"init position x:"<<robot->getPose().getX()<<" y:"<<robot->getPose().getY()<<" th:"<<robot->getPose().getTh()<<std::endl;
ROS_INFO_NAMED("rosaria", "rosaria: Setup complete");
return 0;
}
void RosAriaNode::spin() {
ros::spin();
}
void RosAriaNode::publish() {
// Note, this is called via SensorInterpTask callback (myPublishCB, named "ROSPublishingTask"). ArRobot object 'robot' sholud not be locked or unlocked.
pos = robot->getPose();
tf::poseTFToMsg(tf::Transform(tf::createQuaternionFromYaw(pos.getTh() * M_PI / 180), tf::Vector3(pos.getX() / 1000,
pos.getY() / 1000,
0)),
position.pose.pose); //Aria returns pose in mm.
position.twist.twist.linear.x = robot->getVel() / 1000.0; //Aria returns velocity in mm/s.
position.twist.twist.linear.y = robot->getLatVel() / 1000.0;
position.twist.twist.angular.z = robot->getRotVel() * M_PI / 180;
for (int i = 0; i < position.pose.covariance.size(); i++) {
position.pose.covariance.c_array()[i] = MyCovariance[i];
}
for (int i = 0; i < position.pose.covariance.size(); i++) {
position.twist.covariance.c_array()[i] = MyCovariance[i];
}
position.header.frame_id = frame_id_odom;
position.child_frame_id = frame_id_base_link;
position.header.stamp = ros::Time::now();
pose_pub.publish(position);
ROS_DEBUG(
"RosAria: publish: (time %f) pose x: %f, pose y: %f, pose angle: %f; linear vel x: %f, vel y: %f; angular vel z: %f",
position.header.stamp.toSec(),
(double) position.pose.pose.position.x,
(double) position.pose.pose.position.y,
(double) position.pose.pose.orientation.w,
(double) position.twist.twist.linear.x,
(double) position.twist.twist.linear.y,
(double) position.twist.twist.angular.z
);
// publishing transform odom->base_link
odom_trans.header.stamp = ros::Time::now();
odom_trans.header.frame_id = frame_id_odom;
odom_trans.child_frame_id = frame_id_base_link;
odom_trans.transform.translation.x = pos.getX() / 1000;
odom_trans.transform.translation.y = pos.getY() / 1000;
odom_trans.transform.translation.z = 0.0;
odom_trans.transform.rotation = tf::createQuaternionMsgFromYaw(pos.getTh() * M_PI / 180);
odom_broadcaster.sendTransform(odom_trans);
// getStallValue returns 2 bytes with stall bit and bumper bits, packed as (00 00 FrontBumpers RearBumpers)
int stall = robot->getStallValue();
unsigned char front_bumpers = (unsigned char) (stall >> 8);
unsigned char rear_bumpers = (unsigned char) (stall);
bumpers.header.frame_id = frame_id_bumper;
bumpers.header.stamp = ros::Time::now();
std::stringstream bumper_info(std::stringstream::out);
// Bit 0 is for stall, next bits are for bumpers (leftmost is LSB)
for (unsigned int i = 0; i < robot->getNumFrontBumpers(); i++) {
bumpers.front_bumpers[i] = (front_bumpers & (1 << (i + 1))) == 0 ? 0 : 1;
bumper_info << " " << (front_bumpers & (1 << (i + 1)));
}
ROS_DEBUG("RosAria: Front bumpers:%s", bumper_info.str().c_str());
bumper_info.str("");
// Rear bumpers have reverse order (rightmost is LSB)
unsigned int numRearBumpers = robot->getNumRearBumpers();
for (unsigned int i = 0; i < numRearBumpers; i++) {
bumpers.rear_bumpers[i] = (rear_bumpers & (1 << (numRearBumpers - i))) == 0 ? 0 : 1;
bumper_info << " " << (rear_bumpers & (1 << (numRearBumpers - i)));
}
ROS_DEBUG("RosAria: Rear bumpers:%s", bumper_info.str().c_str());
bumpers_pub.publish(bumpers);
//Publish battery information
// TODO: Decide if BatteryVoltageNow (normalized to (0,12)V) is a better option
std_msgs::Float64 batteryVoltage;
batteryVoltage.data = robot->getRealBatteryVoltageNow();
voltage_pub.publish(batteryVoltage);
if (robot->haveStateOfCharge()) {
std_msgs::Float32 soc;
soc.data = robot->getStateOfCharge() / 100.0;
state_of_charge_pub.publish(soc);
}
// publish recharge state if changed
char s = robot->getChargeState();
if (s != recharge_state.data) {
ROS_INFO("RosAria: publishing new recharge state %d.", s);
recharge_state.data = s;
recharge_state_pub.publish(recharge_state);
}
// publish motors state if changed
bool e = robot->areMotorsEnabled();
if (e != motors_state.data || !published_motors_state) {
ROS_INFO("RosAria: publishing new motors state %d.", e);
motors_state.data = e;
motors_state_pub.publish(motors_state);
published_motors_state = true;
}
// Publish sonar information, if enabled.
if (publish_sonar || publish_sonar_pointcloud2) {
sensor_msgs::PointCloud cloud; //sonar readings.
cloud.header.stamp = position.header.stamp; //copy time.
// sonar sensors relative to base_link
cloud.header.frame_id = frame_id_sonar;
std::stringstream sonar_debug_info; // Log debugging info
sonar_debug_info << "Sonar readings: ";
for (int i = 0; i < robot->getNumSonar(); i++) {
ArSensorReading *reading = NULL;
reading = robot->getSonarReading(i);
if (!reading) {
ROS_WARN("RosAria: Did not receive a sonar reading.");
continue;
}
// getRange() will return an integer between 0 and 5000 (5m)
sonar_debug_info << reading->getRange() << " ";
// local (x,y). Appears to be from the centre of the robot, since values may
// exceed 5000. This is good, since it means we only need 1 transform.
// x & y seem to be swapped though, i.e. if the robot is driving north
// x is north/south and y is east/west.
//
//ArPose sensor = reading->getSensorPosition(); //position of sensor.
// sonar_debug_info << "(" << reading->getLocalX()
// << ", " << reading->getLocalY()
// << ") from (" << sensor.getX() << ", "
// << sensor.getY() << ") ;; " ;
//add sonar readings (robot-local coordinate frame) to cloud
geometry_msgs::Point32 p;
p.x = reading->getLocalX() / 1000.0;
p.y = reading->getLocalY() / 1000.0;
p.z = 0.0;
cloud.points.push_back(p);
}
ROS_DEBUG_STREAM(sonar_debug_info.str());
// publish topic(s)
if (publish_sonar_pointcloud2) {
sensor_msgs::PointCloud2 cloud2;
if (!sensor_msgs::convertPointCloudToPointCloud2(cloud, cloud2)) {
ROS_WARN(
"Error converting sonar point cloud message to point_cloud2 type before publishing! Not publishing this time.");
} else {
sonar_pointcloud2_pub.publish(cloud2);
}
}
if (publish_sonar) {
sonar_pub.publish(cloud);
}
} // end if sonar_enabled
}
bool RosAriaNode::enable_motors_cb(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response) {
ROS_INFO("RosAria: Enable motors request.");
robot->lock();
if (robot->isEStopPressed())
ROS_WARN(
"RosAria: Warning: Enable motors requested, but robot also has E-Stop button pressed. Motors will not enable.");
robot->enableMotors();
robot->unlock();
// todo could wait and see if motors do become enabled, and send a response with an error flag if not
return true;
}
bool RosAriaNode::disable_motors_cb(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response) {
ROS_INFO("RosAria: Disable motors request.");
robot->lock();
robot->disableMotors();
robot->unlock();
// todo could wait and see if motors do become disabled, and send a response with an error flag if not
return true;
}
void
RosAriaNode::cmdvel_cb(const geometry_msgs::TwistConstPtr &msg) {
veltime = ros::Time::now();
ROS_INFO("new speed: [%0.2f,%0.2f](%0.3f)", msg->linear.x * 1e3, msg->angular.z, veltime.toSec());
robot->lock();
robot->setVel(msg->linear.x * 1e3);
if (robot->hasLatVel())
robot->setLatVel(msg->linear.y * 1e3);
robot->setRotVel(msg->angular.z);
robot->unlock();
ROS_DEBUG("RosAria: sent vels to to aria (time %f): x vel %f mm/s, y vel %f mm/s, ang vel %f deg/s",
veltime.toSec(),
(double) msg->linear.x * 1e3, (double) msg->linear.y * 1.3, (double) msg->angular.z);
}
void RosAriaNode::cmdvel_watchdog(const ros::TimerEvent &event) {
// stop robot if no cmd_vel message was received for 0.6 seconds
if (ros::Time::now() - veltime > ros::Duration(0.6)) {
robot->lock();
robot->setVel(0.0);
if (robot->hasLatVel())
robot->setLatVel(0.0);
robot->setRotVel(0.0);
robot->unlock();
}
}
void RosAriaNode::poseMessageReceived(const nav_msgs::OdometryConstPtr &msg) {
robot->moveTo(ArPose(msg->pose.pose.position.x,msg->pose.pose.position.y,msg->pose.pose.orientation.w));
std::cout<<"position updated"<<std::endl;
std::cout<<"new position: ("<<robot->getX()<<","<<robot->getY()<<") ori:"<<robot->getTh()<<std::endl;
}
int main(int argc, char **argv) {
ros::init(argc, argv, "RosAria");
ros::NodeHandle n(std::string("~"));
Aria::init();
RosAriaNode *node = new RosAriaNode(n);
if (node->Setup() != 0) {
ROS_FATAL("RosAria: ROS node setup failed... \n");
return -1;
}
node->spin();
delete node;
ROS_INFO("RosAria: Quitting... \n");
return 0;
}