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If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/README.md b/README.md index 73275cb..4fa67ae 100644 --- a/README.md +++ b/README.md @@ -1,11 +1,9 @@ # ROS package for ZLAC8015D dual-channel servo driver -The latest repository is below. -[https://github.com/Alpaca-zip/zlac8015d_ros.git](https://github.com/Alpaca-zip/zlac8015d_ros.git) -[![](https://img.shields.io/badge/ROS-Noetic-brightgreen.svg)](https://www.ikko-lab.k.hosei.ac.jp/gitbucket/git/tsukuba2022/zlac8015d_ros) +[![](https://img.shields.io/badge/ROS-Noetic-brightgreen.svg)](https://github.com/Alpaca-zip/zlac8015d_ros) + ## 1 Installation -Not recommended for `git clone https://www.ikko-lab.k.hosei.ac.jp/gitbucket/git/tsukuba2022/zlac8015d_ros.git`. ``` $ cd catkin_ws/src @@ -13,25 +11,33 @@ $ cd .. && catkin_make ``` - -## 2 Change full pathname of parameter file -`scripts/motor_driver_node.py` refers to `/home/ubuntu/catkin_ws/src/zlac8015d_ros/params/motor_driver_params.yaml` as default. -If you want to specify a different full pathname, change line 34 in `scripts/motor_driver_node.py` - -## 3 Usage +## 2 Usage ### Run motor_driver_node ``` -$ rosrun zlac8015d_ros motor_driver_node.py +$ roslaunch zlac8015d_ros motor_driver_node.launch ``` ### Parameters - `port`: Name of the zlac8015d port. Default is `dev/ttyUSB0`. -- `travel_in_one_rev`: Tire circumference. Default is `0.655`[m]. -- `R_Wheel`: Tire radius. Default is `0.105`[m]. -- `cpr`: CPR(Counts Per Revolution). Default is `16385`. -- `wheels_base_width`: Distance between tires. Default is `0.440`[m]. - `control_mode`: `1` is relative position control mode, `3` is speed rpm control mode. Default is `3`. +- `debug`: If `true`, odometry information is displayed. Default is `false`. +- `twist_cmd_vel_topic`: Topic name for Twist-type messages. Default is `/zlac8015d/twist/cmd_vel`. +- `cmd_vel_topic`: Topic name for cmd_vel[m/s] messages. Default is `/zlac8015d/vel/cmd_vel`. +- `cmd_rpm_topic`: Topic name for cmd_rpm messages. Default is `/zlac8015d/vel/cmd_rpm`. +- `cmd_deg_topic`: Topic name for cmd_deg[°] messages. Default is `/zlac8015d/pos/cmd_deg`. +- `cmd_dist_topic`: Topic name for cmd_dist[m] messages. Default is `/zlac8015d/pos/cmd_dist`. +- `publish_TF`: If `true`, TF is published. Default is `true`. +- `TF_header_frame`: Name of the TF header frame. Default is `odom`. +- `TF_child_frame`: Name of the TF child frame. Default is `base_link`. +- `publish_odom`: If `true`, `/odom` is published. Default is `true`. +- `odom_header_frame`: Name of the odometry header frame. Default is `odom`. +- `odom_child_frame`: Name of the odometry child frame. Default is `base_link`. +- `left_wheel_radius`: Left wheel radius. Default is `0.1015`[m]. +- `right_wheel_radius`: Right wheel radius. Default is `0.1015`[m]. +- `computation_left_wheel_radius`: Radius of left wheel used for odometry computation. Default is `0.1015`[m]. +- `computation_right_wheel_radius`: Radius of right wheel used for odometry computation. Default is `0.1015`[m]. +- `cpr`: CPR(Counts Per Revolution). Default is `16385`. +- `wheels_base_width`: Distance between tires. Default is `0.5668`[m]. - `callback_timeout`: Motor automatically stops if no topics are received for a certain period of time. Default is `0.5`[s]. -- `decimil_coefficient`: Must be specified in digits. Smaller values will cause small changes in tire motion to have a greater impact on the odometry calculations. `0.01` or `0.001` is highly recommended. Default is `0.001`. - `set_accel_time_left`: Acceleration time for left tire. Default is `200`[ms]. - `set_accel_time_right`: Acceleration time for right tire. Default is `200`[ms]. - `set_decel_time_left`: Deceleration time for left tire. Default is `200`[ms]. @@ -39,10 +45,6 @@ - `max_left_rpm`: Maximum rpm of left tire. Default is `150`. - `max_right_rpm`: Maximum rpm of right tire. Default is `150`. - `deadband_rpm`: Width of rpm to be regarded as 0. If `3`, then -3 to 3 is considered rpm 0. Default is `3`. -- `TF_header_flame`: Header flame of TF. Default is `odom`. -- `TF_child_flame`: Child flame of TF. Default is `base_link`. -- `odom_header_flame`: Header flame of odom. Default is `odom`. -- `odom_child_flame`: Child flame of odom. Default is `base_link`. ### Topics This node publishes the following topics. @@ -55,3 +57,9 @@ - `/zlac8015d/vel/cmd_rpm`: Send command as rpm in speed rpm control, e.g. [100, 50] 100 rpm of left wtire, 50 rpm of right tire. - `/zlac8015d/pos/deg_cmd`: Send command as angle degree in position control, e.g. [90,70] 90 [deg] of left tire, 70 [deg] of right tire. - `/zlac8015d/pos/dist_cmd`: Send command as desired travelling distance in position control, e.g. [1.0, 1.0] for 1[m] travelling distance of each tire. +- `/estop`: Send command as emergency stop signal, e.g. true for emergency stop is activated. + +### Emergency stop Feature +The motor is locked when you publish a `true` message on the `/estop` topic. + +This feature is not recommended. Emergency stop should be controlled by hardware. diff --git a/launch/motor_driver_node.launch b/launch/motor_driver_node.launch new file mode 100644 index 0000000..eed7e94 --- /dev/null +++ b/launch/motor_driver_node.launch @@ -0,0 +1,44 @@ + + +　 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/package.xml b/package.xml index 2fa256b..4a70944 100644 --- a/package.xml +++ b/package.xml @@ -1,7 +1,7 @@ zlac8015d_ros - 0.0.1 + 0.1.8 The zlac8015d_ros package Alpacazip GPLv3 diff --git a/params/motor_driver_params.yaml b/params/motor_driver_params.yaml index 5ce5850..708f69b 100644 --- a/params/motor_driver_params.yaml +++ b/params/motor_driver_params.yaml @@ -1,30 +1,20 @@ -# Name of USB port for zlac8015d -port: /dev/ttyUSB0 - -# Tire & Encoder Parameters +# Wheel & Encoder Parameters # Default: 8 inches wheel ############################### -# Tire circumference -travel_in_one_rev: 0.655 # meter -# Tire radius -R_Wheel: 0.105 # meter +# Wheel radius +left_wheel_radius: 0.1015 # meter +right_wheel_radius: 0.1015 # meter +# For odometry computation +computation_left_wheel_radius: 0.1015 # meter +computation_right_wheel_radius: 0.1015 # meter # Encoder CPR(counts per revolution) cpr: 16385 ############################### -# Distance between tires -wheels_base_width: 0.440 # meter -# Control mode -# 1: relative position control mode -# Subscribe to "/zlac8015d/pos/cmd_deg" and "/zlac8015d/pos/cmd_dist" -# 3: Speed rpm control mode -# Subscribe to "/zlac8015d/twist/cmd_vel", "/zlac8015d/vel/cmd_vel" and "/zlac8015d/vel/cmd_rpm" -control_mode: 3 +# Distance between Wheels +wheels_base_width: 0.5668 # meter # Motor automatically stops if no topics are received for a certain period of time callback_timeout: 0.5 # seconds -# Smaller values will cause small changes in tire motion to have a greater impact on the odometry calculations -# 0.01 or 0.001 is highly recommended -decimil_coefficient: 0.001 # Time to reach target position set_accel_time_left: 200 # ms @@ -38,13 +28,3 @@ # Width of rpm to be regarded as 0 # If 3, then -3 to 3 is considered rpm 0 deadband_rpm: 3 - -# Header flame of TF -TF_header_flame: odom -# Child flame of TF -TF_child_flame: base_link - -# Header flame of odom -odom_header_flame: odom -# Child flame of odom -odom_child_flame: base_link \ No newline at end of file diff --git a/scripts/ZLAC8015D.py b/scripts/ZLAC8015D.py deleted file mode 100644 index 04b9536..0000000 --- a/scripts/ZLAC8015D.py +++ /dev/null @@ -1,339 +0,0 @@ -# This script is taken from the following Python API. -# https://github.com/rasheeddo/ZLAC8015D_python.git - -from pymodbus.client.sync import ModbusSerialClient as ModbusClient -import numpy as np - -class Controller: - - def __init__(self, port="/dev/ttyUSB0"): - - self._port = port - - self.client = ModbusClient(method='rtu', port=self._port, baudrate=115200, timeout=1) - - self.client.connect() - - self.ID = 1 - - ###################### - ## Register Address ## - ###################### - ## Common - self.CONTROL_REG = 0x200E - self.OPR_MODE = 0x200D - self.L_ACL_TIME = 0x2080 - self.R_ACL_TIME = 0x2081 - self.L_DCL_TIME = 0x2082 - self.R_DCL_TIME = 0x2083 - - ## Velocity control - self.L_CMD_RPM = 0x2088 - self.R_CMD_RPM = 0x2089 - self.L_FB_RPM = 0x20AB - self.R_FB_RPM = 0x20AC - - ## Position control - self.POS_CONTROL_TYPE = 0x200F - - self.L_MAX_RPM_POS = 0x208E - self.R_MAX_RPM_POS = 0x208F - - self.L_CMD_REL_POS_HI = 0x208A - self.L_CMD_REL_POS_LO = 0x208B - self.R_CMD_REL_POS_HI = 0x208C - self.R_CMD_REL_POS_LO = 0x208D - - self.L_FB_POS_HI = 0x20A7 - self.L_FB_POS_LO = 0x20A8 - self.R_FB_POS_HI = 0x20A9 - self.R_FB_POS_LO = 0x20AA - - ## Troubleshooting - self.L_FAULT = 0x20A5 - self.R_FAULT = 0x20A6 - - ######################## - ## Control CMDs (REG) ## - ######################## - self.EMER_STOP = 0x05 - self.ALRM_CLR = 0x06 - self.DOWN_TIME = 0x07 - self.ENABLE = 0x08 - self.POS_SYNC = 0x10 - self.POS_L_START = 0x11 - self.POS_R_START = 0x12 - - #################### - ## Operation Mode ## - #################### - self.POS_REL_CONTROL = 1 - self.POS_ABS_CONTROL = 2 - self.VEL_CONTROL = 3 - - self.ASYNC = 0 - self.SYNC = 1 - - ################# - ## Fault codes ## - ################# - self.NO_FAULT = 0x0000 - self.OVER_VOLT = 0x0001 - self.UNDER_VOLT = 0x0002 - self.OVER_CURR = 0x0004 - self.OVER_LOAD = 0x0008 - self.CURR_OUT_TOL = 0x0010 - self.ENCOD_OUT_TOL = 0x0020 - self.MOTOR_BAD = 0x0040 - self.REF_VOLT_ERROR = 0x0080 - self.EEPROM_ERROR = 0x0100 - self.WALL_ERROR = 0x0200 - self.HIGH_TEMP = 0x0400 - self.FAULT_LIST = [self.OVER_VOLT, self.UNDER_VOLT, self.OVER_CURR, self.OVER_LOAD, self.CURR_OUT_TOL, self.ENCOD_OUT_TOL, \ - self.MOTOR_BAD, self.REF_VOLT_ERROR, self.EEPROM_ERROR, self.WALL_ERROR, self.HIGH_TEMP] - - ############## - ## Odometry ## - ############## - ## 8 inches wheel - self.travel_in_one_rev = 0.655 - self.cpr = 16385 - self.R_Wheel = 0.105 #meter - - ## Some time if read immediatly after write, it would show ModbusIOException when get data from registers - def modbus_fail_read_handler(self, ADDR, WORD): - - read_success = False - reg = [None]*WORD - while not read_success: - result = self.client.read_holding_registers(ADDR, WORD, unit=self.ID) - try: - for i in range(WORD): - reg[i] = result.registers[i] - read_success = True - except AttributeError as e: - print(e) - pass - - return reg - - def rpm_to_radPerSec(self, rpm): - return rpm*2*np.pi/60.0 - - def rpm_to_linear(self, rpm): - - W_Wheel = self.rpm_to_radPerSec(rpm) - V = W_Wheel*self.R_Wheel - - return V - - def set_mode(self, MODE): - """ - if MODE == 1: - print("Set relative position control") - elif MODE == 2: - print("Set absolute position control") - elif MODE == 3: - print("Set speed rpm control") - else: - print("set_mode ERROR: set only 1, 2, or 3") - return 0 - """ - - result = self.client.write_register(self.OPR_MODE, MODE, unit=self.ID) - return result - - def get_mode(self): - - # result = self.client.read_holding_registers(self.OPR_MODE, 1, unit=self.ID) - registers = self.modbus_fail_read_handler(self.OPR_MODE, 1) - - mode = registers[0] - - return mode - - def enable_motor(self): - result = self.client.write_register(self.CONTROL_REG, self.ENABLE, unit=self.ID) - - def disable_motor(self): - result = self.client.write_register(self.CONTROL_REG, self.DOWN_TIME, unit=self.ID) - - def get_fault_code(self): - - fault_codes = self.client.read_holding_registers(self.L_FAULT, 2, unit=self.ID) - - L_fault_code = fault_codes.registers[0] - R_fault_code = fault_codes.registers[1] - - L_fault_flag = L_fault_code in self.FAULT_LIST - R_fault_flag = R_fault_code in self.FAULT_LIST - - return (L_fault_flag, L_fault_code), (R_fault_flag, R_fault_code) - - def clear_alarm(self): - result = self.client.write_register(self.CONTROL_REG, self.ALRM_CLR, unit=self.ID) - - def set_accel_time(self, L_ms, R_ms): - - if L_ms > 32767: - L_ms = 32767 - elif L_ms < 0: - L_ms = 0 - - if R_ms > 32767: - R_ms = 32767 - elif R_ms < 0: - R_ms = 0 - - result = self.client.write_registers(self.L_ACL_TIME, [int(L_ms),int(R_ms)], unit=self.ID) - - - def set_decel_time(self, L_ms, R_ms): - - if L_ms > 32767: - L_ms = 32767 - elif L_ms < 0: - L_ms = 0 - - if R_ms > 32767: - R_ms = 32767 - elif R_ms < 0: - R_ms = 0 - - result = self.client.write_registers(self.L_DCL_TIME, [int(L_ms), int(R_ms)], unit=self.ID) - - def int16Dec_to_int16Hex(self,int16): - - lo_byte = (int16 & 0x00FF) - hi_byte = (int16 & 0xFF00) >> 8 - - all_bytes = (hi_byte << 8) | lo_byte - - return all_bytes - - - def set_rpm(self, L_rpm, R_rpm): - - if L_rpm > 3000: - L_rpm = 3000 - elif L_rpm < -3000: - L_rpm = -3000 - - if R_rpm > 3000: - R_rpm = 3000 - elif R_rpm < -3000: - R_rpm = -3000 - - left_bytes = self.int16Dec_to_int16Hex(L_rpm) - right_bytes = self.int16Dec_to_int16Hex(R_rpm) - - result = self.client.write_registers(self.L_CMD_RPM, [left_bytes, right_bytes], unit=self.ID) - - def get_rpm(self): - - - # rpms = self.client.read_holding_registers(self.L_FB_RPM, 2, unit=self.ID) - # fb_L_rpm = np.int16(rpms.registers[0])/10.0 - # fb_R_rpm = np.int16(rpms.registers[1])/10.0 - - registers = self.modbus_fail_read_handler(self.L_FB_RPM, 2) - fb_L_rpm = np.int16(registers[0])/10.0 - fb_R_rpm = np.int16(registers[1])/10.0 - - return fb_L_rpm, fb_R_rpm - - def get_linear_velocities(self): - - rpmL, rpmR = self.get_rpm() - - VL = self.rpm_to_linear(rpmL) - VR = self.rpm_to_linear(-rpmR) - - return VL, VR - - def map(self, val, in_min, in_max, out_min, out_max): - - return (val - in_min) * (out_max - out_min) / (in_max - in_min) + out_min - - def set_maxRPM_pos(self, max_L_rpm, max_R_rpm): - - if max_L_rpm > 1000: - max_L_rpm = 1000 - elif max_L_rpm < 1: - max_L_rpm = 1 - - if max_R_rpm > 1000: - max_R_rpm = 1000 - elif max_R_rpm < 1: - max_R_rpm = 1 - - result = self.client.write_registers(self.L_MAX_RPM_POS, [int(max_L_rpm), int(max_R_rpm)], unit=self.ID) - - def set_position_async_control(self): - - result = self.client.write_register(self.POS_CONTROL_TYPE, self.ASYNC, unit=self.ID) - - def move_left_wheel(self): - - result = self.client.write_register(self.CONTROL_REG, self.POS_L_START, unit=self.ID) - - def move_right_wheel(self): - - result = self.client.write_register(self.CONTROL_REG, self.POS_R_START, unit=self.ID) - - def deg_to_32bitArray(self, deg): - - dec = int(self.map(deg, -1440, 1440, -65536, 65536)) - HI_WORD = (dec & 0xFFFF0000) >> 16 - LO_WORD = dec & 0x0000FFFF - - return [HI_WORD, LO_WORD] - - def set_relative_angle(self, ang_L, ang_R): - - #L_array = self.deg_to_32bitArray(ang_L) - #R_array = self.deg_to_32bitArray(ang_R) - L_array = self.deg_to_32bitArray(ang_L/4) - R_array = self.deg_to_32bitArray(ang_R/4) - all_cmds_array = L_array + R_array - - result = self.client.write_registers(self.L_CMD_REL_POS_HI, all_cmds_array, unit=self.ID) - - def get_wheels_travelled(self): - - # read_success = False - # while not read_success: - - # result = self.client.read_holding_registers(self.L_FB_POS_HI, 4, unit=self.ID) - # try: - # l_pul_hi = result.registers[0] - # l_pul_lo = result.registers[1] - # r_pul_hi = result.registers[2] - # r_pul_lo = result.registers[3] - - # l_pulse = ((l_pul_hi & 0xFFFF) << 16) | (l_pul_lo & 0xFFFF) - # r_pulse = ((r_pul_hi & 0xFFFF) << 16) | (r_pul_lo & 0xFFFF) - # l_travelled = (float(l_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter - # r_travelled = (float(r_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter - - # read_success = True - - # except AttributeError: - # # print("error") - # pass - - registers = self.modbus_fail_read_handler(self.L_FB_POS_HI, 4) - l_pul_hi = registers[0] - l_pul_lo = registers[1] - r_pul_hi = registers[2] - r_pul_lo = registers[3] - - l_pulse = np.int32(((l_pul_hi & 0xFFFF) << 16) | (l_pul_lo & 0xFFFF)) - r_pulse = np.int32(((r_pul_hi & 0xFFFF) << 16) | (r_pul_lo & 0xFFFF)) - #l_travelled = (float(l_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter - #r_travelled = (float(r_pulse)/self.cpr)*self.travel_in_one_rev # unit in meter - - l_travelled = (float(l_pulse)/self.cpr)*self.travel_in_one_rev*4 # unit in meter - r_travelled = (float(r_pulse)/self.cpr)*self.travel_in_one_rev*4 # unit in meter - - return l_travelled, r_travelled diff --git a/scripts/motor_driver_node.py b/scripts/motor_driver_node.py index 066c921..b2551e1 100644 --- a/scripts/motor_driver_node.py +++ b/scripts/motor_driver_node.py @@ -1,59 +1,88 @@ #!/usr/bin/env python3 +""" +Copyright (C) 2022 rasheeddo +Copyright (C) 2022 Alpaca-zip + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see . +""" import rospy -import ZLAC8015D import tf2_ros import numpy as np import time -import yaml -from decimal import Decimal, ROUND_HALF_UP -from std_msgs.msg import Float32MultiArray -from geometry_msgs.msg import Twist +from std_msgs.msg import Float32MultiArray, Bool +from geometry_msgs.msg import Twist, TransformStamped from nav_msgs.msg import Odometry from tf.transformations import quaternion_from_euler -from geometry_msgs.msg import TransformStamped +from pymodbus.client.sync import ModbusSerialClient as ModbusClient class MotorDriverNode: def __init__(self): - print("\033[32m" + "Start motor driver node!!" + "\033[0m") - print("#########################") - #-----Initialize publisher----- - self.wheels_rpm_pub = rospy.Publisher("/wheels_rpm", Float32MultiArray, queue_size=10) - self.wheels_rpm_msg = Float32MultiArray() + self.client = ModbusClient(method = 'rtu', port = rospy.get_param("/motor_driver_node/port"), baudrate = 115200, timeout = 1) + self.client.connect() + self.ID = 1 + + # -----Register Address----- + # Common + self.CONTROL_REG = 0x200E + self.OPR_MODE = 0x200D + self.L_ACL_TIME = 0x2080 + self.L_DCL_TIME = 0x2082 + + # Speed RPM Control + self.L_CMD_RPM = 0x2088 + + # Position Control + self.POS_CONTROL_TYPE = 0x200F + self.L_MAX_RPM_POS = 0x208E + self.L_CMD_REL_POS_HI = 0x208A + self.L_FB_POS_HI = 0x20A7 + + # -----Control CMDs (REG)----- + self.ALRM_CLR = 0x06 + self.DOWN_TIME = 0x07 + self.ENABLE = 0x08 + self.POS_L_START = 0x11 + self.POS_R_START = 0x12 + + # -----Operation Mode----- + self.ASYNC = 0 + + # -----Initialize Publisher----- self.odom_pub = rospy.Publisher("/odom", Odometry, queue_size=10) self.odom_msg = Odometry() - #-----Initialize subscriber----- - rospy.Subscriber("/zlac8015d/twist/cmd_vel", Twist, self.zlac8015d_twist_cmd_callback) - rospy.Subscriber("/zlac8015d/vel/cmd_vel", Float32MultiArray, self.zlac8015d_vel_cmd_callback) - rospy.Subscriber("/zlac8015d/vel/cmd_rpm", Float32MultiArray, self.zlac8015d_rpm_cmd_callback) - rospy.Subscriber("/zlac8015d/pos/cmd_deg", Float32MultiArray, self.zlac8015d_deg_cmd_callback) - rospy.Subscriber("/zlac8015d/pos/cmd_dist", Float32MultiArray, self.zlac8015d_dist_cmd_callback) - - #-----Import parameters from yaml file----- - self.load_file = "/home/ubuntu/catkin_ws/src/zlac8015d_ros/params/motor_driver_params.yaml" - with open(self.load_file) as file: - self.obj = yaml.safe_load(file) - - #-----Initialize ZLAC8015D----- - self.zlc = ZLAC8015D.Controller(self.obj["port"]) - self.zlc.travel_in_one_rev = float(self.obj["travel_in_one_rev"]) - self.zlc.cpr = int(self.obj["cpr"]) - self.zlc.R_Wheel = float(self.obj["R_Wheel"]) - self.control_mode = int(self.obj["control_mode"]) + # -----Initialize subscriber----- + rospy.Subscriber(rospy.get_param("/motor_driver_node/twist_cmd_vel_topic"), Twist, self.twist_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_vel_topic"), Float32MultiArray, self.vel_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_rpm_topic"), Float32MultiArray, self.rpm_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_deg_topic"), Float32MultiArray, self.deg_cmd_callback) + rospy.Subscriber(rospy.get_param("/motor_driver_node/cmd_dist_topic"), Float32MultiArray, self.dist_cmd_callback) + rospy.Subscriber("/estop", Bool, self.estop_callback) + + # -----Initialize Control Mode----- + self.control_mode = int(rospy.get_param("/motor_driver_node/control_mode")) if self.control_mode == 3: - self.zlac8015d_speed_mode_init() + self.speed_mode_init() elif self.control_mode == 1: - self.zlac8015d_position_mode_init() - - #-----Initialize variable----- - self.last_subscribed_time = 0.0 - self.callback_timeout = float(self.obj["callback_timeout"]) - self.deadband_rpm = int(self.obj["deadband_rpm"]) + self.position_mode_init() + + # -----Initialize Variable----- self.linear_vel_cmd = 0.0 self.angular_vel_cmd = 0.0 self.got_twist_cmd = False - + self.left_vel_cmd = 0.0 self.right_vel_cmd = 0.0 self.got_vel_cmd = False @@ -62,309 +91,523 @@ self.right_rpm_cmd = 0.0 self.got_vel_rpm_cmd = False - self.left_pos_deg_cmd = 0.0 - self.right_pos_deg_cmd = 0.0 + self.left_pos_deg_cmd = 0.0 + self.right_pos_deg_cmd = 0.0 self.got_pos_deg_cmd = False self.left_pos_dist_cmd = 0.0 self.right_pos_dist_cmd = 0.0 self.got_pos_dist_cmd = False - - self.theta = 0.0 - self.x = 0.0 - self.y = 0.0 + + self.estop = False + + self.last_subscribed_time = 0.0 + self.wheels_base_width = float(rospy.get_param("/motor_driver_node/wheels_base_width")) + self.left_wheel_radius = float(rospy.get_param("/motor_driver_node/left_wheel_radius")) + self.right_wheel_radius = float(rospy.get_param("/motor_driver_node/right_wheel_radius")) + self.computation_left_wheel_radius = float(rospy.get_param("/motor_driver_node/computation_left_wheel_radius")) + self.computation_right_wheel_radius = float(rospy.get_param("/motor_driver_node/computation_right_wheel_radius")) self.period = 0.05 self.l_meter = 0.0 self.r_meter = 0.0 - self.l_meter_init, self.r_meter_init = self.zlc.get_wheels_travelled() self.prev_l_meter = 0.0 self.prev_r_meter = 0.0 - - self.br = tf2_ros.TransformBroadcaster() + self.l_meter_init, self.r_meter_init = self.get_wheels_travelled() self.t = TransformStamped() - + self.br = tf2_ros.TransformBroadcaster() + self.state_vector = np.zeros((3, 1)) + + print("\033[32m" + "Start ZLAC8015D motor driver node" + "\033[0m") + print("#########################") + """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_twist_cmd_callback function - ++++++++++++++++++++++++++++++++++++++++++ + ############################## + ## speed_mode_init function ## + ############################## + Initialization of speed RPM control mode. + """ + def speed_mode_init(self): + # -----Disable Motor----- + result = self.client.write_register(self.CONTROL_REG, self.DOWN_TIME, unit = self.ID) + + # -----Set Accel Time----- + AL_ms = int(rospy.get_param("/motor_driver_node/set_accel_time_left")) + AR_ms = int(rospy.get_param("/motor_driver_node/set_accel_time_right")) + if AL_ms > 32767: + AL_ms = 32767 + elif AL_ms < 0: + AL_ms = 0 + + if AR_ms > 32767: + AR_ms = 32767 + elif AR_ms < 0: + AR_ms = 0 + + result = self.client.write_registers(self.L_ACL_TIME, [AL_ms, AR_ms], unit = self.ID) + + # -----Set Decel Time----- + DL_ms = int(rospy.get_param("/motor_driver_node/set_decel_time_left")) + DR_ms = int(rospy.get_param("/motor_driver_node/set_decel_time_right")) + if DL_ms > 32767: + DL_ms = 32767 + elif DL_ms < 0: + DL_ms = 0 + + if DR_ms > 32767: + DR_ms = 32767 + elif DR_ms < 0: + DR_ms = 0 + + result = self.client.write_registers(self.L_DCL_TIME, [DL_ms, DR_ms], unit = self.ID) + + # -----Set Mode----- + mode = 3 + result = self.client.write_register(self.OPR_MODE, mode, unit=self.ID) + print("\033[32m" + "Set mode as speed RPM control" + "\033[0m") + + # -----Enable Motor----- + result = self.client.write_register(self.CONTROL_REG, self.ENABLE, unit = self.ID) + + """ + ################################# + ## position_mode_init function ## + ################################# + Initialization of relative position control mode. + """ + def position_mode_init(self): + # -----Disable Motor----- + result = self.client.write_register(self.CONTROL_REG, self.DOWN_TIME, unit = self.ID) + + # -----Set Accel Time----- + AL_ms = int(rospy.get_param("/motor_driver_node/set_accel_time_left")) + AR_ms = int(rospy.get_param("/motor_driver_node/set_accel_time_right")) + if AL_ms > 32767: + AL_ms = 32767 + elif AL_ms < 0: + AL_ms = 0 + + if AR_ms > 32767: + AR_ms = 32767 + elif AR_ms < 0: + AR_ms = 0 + + result = self.client.write_registers(self.L_ACL_TIME, [AL_ms, AR_ms], unit = self.ID) + + # -----Set Decel Time----- + DL_ms = int(rospy.get_param("/motor_driver_node/set_decel_time_left")) + DR_ms = int(rospy.get_param("/motor_driver_node/set_decel_time_right")) + if DL_ms > 32767: + DL_ms = 32767 + elif DL_ms < 0: + DL_ms = 0 + + if DR_ms > 32767: + DR_ms = 32767 + elif DR_ms < 0: + DR_ms = 0 + + result = self.client.write_registers(self.L_DCL_TIME, [DL_ms, DR_ms], unit = self.ID) + + # -----Set Mode----- + mode = 1 + result = self.client.write_register(self.OPR_MODE, mode, unit=self.ID) + print("\033[32m" + "Set mode as relative position control" + "\033[0m") + + # -----Set Position Async Control----- + result = self.client.write_register(self.POS_CONTROL_TYPE, self.ASYNC, unit = self.ID) + + # -----Set Position Async Control----- + max_L_rpm = int(rospy.get_param("/motor_driver_node/max_left_rpm")) + max_R_rpm = int(rospy.get_param("/motor_driver_node/max_right_rpm")) + if max_L_rpm > 1000: + max_L_rpm = 1000 + elif max_L_rpm < 1: + max_L_rpm = 1 + + if max_R_rpm > 1000: + max_R_rpm = 1000 + elif max_R_rpm < 1: + max_R_rpm = 1 + + result = self.client.write_registers(self.L_MAX_RPM_POS, [max_L_rpm, max_R_rpm], unit = self.ID) + + # -----Enable Motor----- + result = self.client.write_register(self.CONTROL_REG, self.ENABLE, unit = self.ID) + + """ + ################################# + ## twist_cmd_callback function ## + ################################# Callback function to subscribe for "/zlac8015d/twist/cmd_vel". """ - def zlac8015d_twist_cmd_callback(self, msg): + def twist_cmd_callback(self, msg): self.linear_vel_cmd = msg.linear.x self.angular_vel_cmd = msg.angular.z self.got_twist_cmd = True - self.last_subscribed_time = rospy.Time.now().nsecs - + self.last_subscribed_time = time.perf_counter() + """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_vel_cmd_callback function - ++++++++++++++++++++++++++++++++++++++++++ + ############################### + ## vel_cmd_callback function ## + ############################### Callback function to subscribe for "/zlac8015d/vel/cmd_vel". """ - def zlac8015d_vel_cmd_callback(self, msg): + def vel_cmd_callback(self, msg): self.left_vel_cmd = msg.data[0] self.right_vel_cmd = -msg.data[1] self.got_vel_cmd = True self.last_subscribed_time = time.perf_counter() """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_rpm_cmd_callback function - ++++++++++++++++++++++++++++++++++++++++++ + ############################### + ## rpm_cmd_callback function ## + ############################### Callback function to subscribe for "/zlac8015d/vel/cmd_rpm". """ - def zlac8015d_rpm_cmd_callback(self, msg): + def rpm_cmd_callback(self, msg): self.left_rpm_cmd = msg.data[0] self.right_rpm_cmd = -msg.data[1] self.got_vel_rpm_cmd = True self.last_subscribed_time = time.perf_counter() """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_deg_cmd_callback function - ++++++++++++++++++++++++++++++++++++++++++ + ############################### + ## deg_cmd_callback function ## + ############################### Callback function to subscribe for "/zlac8015d/pos/cmd_deg". """ - def zlac8015d_deg_cmd_callback(self, msg): + def deg_cmd_callback(self, msg): self.left_pos_deg_cmd = msg.data[0] self.right_pos_deg_cmd = -msg.data[1] self.got_pos_deg_cmd = True """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_dist_cmd_callback function - ++++++++++++++++++++++++++++++++++++++++++ + ################################ + ## dist_cmd_callback function ## + ################################ Callback function to subscribe for "/zlac8015d/pos/cmd_dist". """ - def zlac8015d_dist_cmd_callback(self, msg): + def dist_cmd_callback(self, msg): self.left_pos_dist_cmd = msg.data[0] self.right_pos_dist_cmd = msg.data[1] self.got_pos_dist_cmd = True + + """ + ############################## + ## estop_callback function ## + ############################## + Callback function to subscribe for "/estop". + """ + def estop_callback(self, msg): + self.estop = msg.data """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_speed_mode_init function - ++++++++++++++++++++++++++++++++++++++++++ - Initialization of speed rpm control mode. - """ - def zlac8015d_speed_mode_init(self): - self.zlc.disable_motor() - self.zlc.set_accel_time(int(self.obj["set_accel_time_left"]), int(self.obj["set_accel_time_right"])) - self.zlc.set_decel_time(int(self.obj["set_decel_time_left"]), int(self.obj["set_decel_time_right"])) - self.zlc.set_mode(3) - self.zlc.enable_motor() - - """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_position_mode_init function - ++++++++++++++++++++++++++++++++++++++++++ - Initialization of relative position control mode. - """ - def zlac8015d_position_mode_init(self): - self.zlc.disable_motor() - self.zlc.set_accel_time(int(self.obj["set_accel_time_left"]), int(self.obj["set_accel_time_right"])) - self.zlc.set_decel_time(int(self.obj["set_decel_time_left"]), int(self.obj["set_decel_time_right"])) - self.zlc.set_mode(1) - self.zlc.set_position_async_control() - self.zlc.set_maxRPM_pos(int(self.obj["max_left_rpm"]), int(self.obj["max_right_rpm"])) - self.zlc.enable_motor() - - """ - ++++++++++++++++++++++++++++++++++++++++++ - twist_to_rpm function - ++++++++++++++++++++++++++++++++++++++++++ - Convert from twist to rpm. + ########################### + ## twist_to_rpm function ## + ########################### + Convert from twist to RPM. """ def twist_to_rpm(self, linear_vel, angular_vel): - left_vel = linear_vel - float(self.obj["wheels_base_width"]) / 2 * angular_vel - right_vel = linear_vel + float(self.obj["wheels_base_width"]) / 2 * angular_vel + left_vel = linear_vel - self.wheels_base_width / 2 * angular_vel + right_vel = linear_vel + self.wheels_base_width / 2 * angular_vel left_rpm, right_rpm = self.vel_to_rpm(left_vel, -right_vel) return left_rpm, right_rpm - + """ - ++++++++++++++++++++++++++++++++++++++++++ - vel_to_rpm function - ++++++++++++++++++++++++++++++++++++++++++ - Convert from speed to rpm. + ######################### + ## vel_to_rpm function ## + ######################### + Convert from speed to RPM. """ def vel_to_rpm(self, left_vel, right_vel): - left_rpm = 60 * left_vel / (2 * np.pi * self.zlc.R_Wheel) - right_rpm = 60 * right_vel / (2 * np.pi * self.zlc.R_Wheel) + left_rpm = 60 * left_vel / (2 * np.pi * self.left_wheel_radius) + right_rpm = 60 * right_vel / (2 * np.pi * self.right_wheel_radius) return left_rpm, right_rpm + + """ + ##################################### + ## dist_to_relative_angle function ## + ##################################### + Convert from distance to relative angle. + """ + def dist_to_relative_angle(self, left_dist, right_dist): + left_circumference = self.left_wheel_radius * 2 * np.pi + right_circumference = self.right_wheel_radius * 2 * np.pi + left_relative_deg = (left_dist * 360.0) / left_circumference + right_relative_deg = (-right_dist * 360.0) / right_circumference + return left_relative_deg, right_relative_deg """ - ++++++++++++++++++++++++++++++++++++++++++ - zlac8015d_set_rpm_with_limit function - ++++++++++++++++++++++++++++++++++++++++++ - Set rpm with limit. + ################################### + ## int16Dec_to_int16Hex function ## + ################################### + Convert from int16Dec to int16Hex. """ - def zlac8015d_set_rpm_with_limit(self, left_rpm, right_rpm): - if (-int(self.obj["max_left_rpm"]) < left_rpm < int(self.obj["max_left_rpm"])) and (-int(self.obj["max_right_rpm"]) < right_rpm < int(self.obj["max_right_rpm"])): - if (-self.deadband_rpm < left_rpm < self.deadband_rpm): - left_rpm = 0 - if (-self.deadband_rpm < right_rpm < self.deadband_rpm): - right_rpm = 0 - - self.zlc.set_rpm(int(left_rpm), int(right_rpm)) - else: - rospy.logerr("Set RPM exceeds the limit.") + def int16Dec_to_int16Hex(self, int16): + lo_byte = (int16 & 0x00FF) + hi_byte = (int16 & 0xFF00) >> 8 + all_bytes = (hi_byte << 8) | lo_byte + return all_bytes """ - ++++++++++++++++++++++++++++++++++++++++++ - calculate_odometry function - ++++++++++++++++++++++++++++++++++++++++++ + ################################# + ## deg_to_32bitArray function ## + ################################# + Convert from degree to 32bitArray. + """ + def deg_to_32bitArray(self, deg): + dec = int(self.map(deg, -1440, 1440, -65536, 65536)) + HI_WORD = (dec & 0xFFFF0000) >> 16 + LO_WORD = dec & 0x0000FFFF + return [HI_WORD, LO_WORD] + + """ + ################################### + ## get_wheels_travelled function ## + ################################### + Get distance traveled by left and right wheels. + """ + def get_wheels_travelled(self): + cpr = int(rospy.get_param("/motor_driver_node/cpr")) + registers = self.modbus_fail_read_handler(self.L_FB_POS_HI, 4) + l_pul_hi = registers[0] + l_pul_lo = registers[1] + r_pul_hi = registers[2] + r_pul_lo = registers[3] + l_pulse = np.int32(((l_pul_hi & 0xFFFF) << 16) | (l_pul_lo & 0xFFFF)) + r_pulse = np.int32(((r_pul_hi & 0xFFFF) << 16) | (r_pul_lo & 0xFFFF)) + l_travelled = (float(l_pulse) / cpr) * self.computation_left_wheel_radius * np.pi * 8 # unit in meter + r_travelled = (float(r_pulse) / cpr) * self.computation_right_wheel_radius * np.pi * 8 # unit in meter + return l_travelled, r_travelled + + """ + ####################################### + ## modbus_fail_read_handler function ## + ####################################### + Get data from registers. + """ + def modbus_fail_read_handler(self, ADDR, WORD): + read_success = False + reg = [None] * WORD + while not read_success: + result = self.client.read_holding_registers(ADDR, WORD, unit = self.ID) + try: + for i in range(WORD): + reg[i] = result.registers[i] + read_success = True + except AttributeError as e: + print(e) + pass + return reg + + """ + ################################# + ## set_rpm_with_limit function ## + ################################# + Set RPM with limit. + """ + def set_rpm_with_limit(self, left_rpm, right_rpm): + deadband_rpm = int(rospy.get_param("/motor_driver_node/deadband_rpm")) + left_rpm_lim = int(rospy.get_param("/motor_driver_node/max_left_rpm")) + right_rpm_lim = int(rospy.get_param("/motor_driver_node/max_right_rpm")) + if left_rpm_lim < left_rpm: + left_rpm = left_rpm_lim + rospy.logwarn("RPM reach the limit.") + elif left_rpm < -left_rpm_lim: + left_rpm = -left_rpm_lim + rospy.logwarn("RPM reach the limit.") + elif -deadband_rpm < left_rpm < deadband_rpm: + left_rpm = 0 + + if right_rpm_lim < right_rpm: + right_rpm = right_rpm_lim + rospy.logwarn("RPM reach the limit.") + elif right_rpm < -right_rpm_lim: + right_rpm = -right_rpm_lim + rospy.logwarn("RPM reach the limit.") + elif -deadband_rpm < right_rpm < deadband_rpm: + right_rpm = 0 + + left_bytes = self.int16Dec_to_int16Hex(left_rpm) + right_bytes = self.int16Dec_to_int16Hex(right_rpm) + result = self.client.write_registers(self.L_CMD_RPM, [left_bytes, right_bytes], unit = self.ID) + + """ + ################################# + ## set_relative_angle function ## + ################################# + Set relative angle. + """ + def set_relative_angle(self, ang_L, ang_R): + L_array = self.deg_to_32bitArray(ang_L / 4) + R_array = self.deg_to_32bitArray(ang_R / 4) + all_cmds_array = L_array + R_array + result = self.client.write_registers(self.L_CMD_REL_POS_HI, all_cmds_array, unit = self.ID) + + """ + ################################# + ## calculate_odometry function ## + ################################# Odometry computation. """ def calculate_odometry(self): - self.l_meter, self.r_meter = self.zlc.get_wheels_travelled() + self.l_meter, self.r_meter = self.get_wheels_travelled() self.l_meter = self.l_meter - self.l_meter_init self.r_meter = (-1 * self.r_meter) - (-1 * self.r_meter_init) - if self.control_mode == 3: - vl, vr = self.zlc.get_linear_velocities() - elif self.control_mode == 1: - vl = (self.l_meter - self.prev_l_meter) / self.period - vr = (self.r_meter - self.prev_r_meter) / self.period + vl = (self.l_meter - self.prev_l_meter) / self.period + vr = (self.r_meter - self.prev_r_meter) / self.period + Wl = vl / self.computation_left_wheel_radius + Wr = vr / self.computation_right_wheel_radius + matrix = np.array([[self.computation_right_wheel_radius / 2, self.computation_left_wheel_radius / 2], [self.computation_right_wheel_radius / self.wheels_base_width, -self.computation_left_wheel_radius / self.wheels_base_width]]) + vector = np.array([[Wr], [Wl]]) + input_vector = np.dot(matrix, vector) + V = input_vector[0, 0] + Wz = input_vector[1, 0] + out_matrix = np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1]]) + dirc_matrix = np.array([[np.cos(self.state_vector[2, 0]) * self.period, 0], [np.sin(self.state_vector[2, 0]) * self.period, 0], [0, self.period]]) + out_vector = np.dot(out_matrix, self.state_vector) + np.dot(dirc_matrix, input_vector) + x = out_vector[0, 0] + y = out_vector[1, 0] + theta = out_vector[2, 0] - round_vl = float(Decimal(str(vl)).quantize(Decimal(self.obj["decimil_coefficient"]), rounding = ROUND_HALF_UP)) - round_vr = float(Decimal(str(vr)).quantize(Decimal('0.001'), rounding = ROUND_HALF_UP)) - self.obj["TF_header_flame"] - - #-----Rotatiing----- - if ((round_vl * round_vr) < 0.0) and (abs(round_vl) == abs(round_vr)): - V = 0.0 - Wz = 2.0 * vr / float(self.obj["wheels_base_width"]) - self.theta = self.theta + Wz * self.period - path = "Rotatiing" - - #-----Curving----- - elif (round_vl - round_vr) != 0: - V = (vl + vr) / 2.0 - Wz = (vr - vl) / float(self.obj["wheels_base_width"]) - R_ICC = (float(self.obj["wheels_base_width"]) / 2.0) * ((vr + vl) / (vr - vl)) - self.x = self.x - R_ICC * np.sin(self.theta) + R_ICC * np.sin(self.theta + Wz * self.period) - self.y = self.y + R_ICC * np.cos(self.theta) - R_ICC * np.cos(self.theta + Wz * self.period) - self.theta = self.theta + Wz * self.period - path = "Curving" + # -----Construct TF----- + if(rospy.get_param("/motor_driver_node/publish_TF")): + self.t.header.stamp = rospy.Time.now() + self.t.header.frame_id = rospy.get_param("/motor_driver_node/TF_header_frame") + self.t.child_frame_id = rospy.get_param("/motor_driver_node/TF_child_frame") + self.t.transform.translation.x = x + self.t.transform.translation.y = y + self.t.transform.translation.z = 0.0 + rotation = quaternion_from_euler(0, 0, theta) + self.t.transform.rotation.x = rotation[0] + self.t.transform.rotation.y = rotation[1] + self.t.transform.rotation.z = rotation[2] + self.t.transform.rotation.w = rotation[3] + self.br.sendTransform(self.t) - #-----Going straight----- - else: - V = (vl + vr)/2.0 - Wz = 0.0 - self.x = self.x + V * np.cos(self.theta) * self.period - self.y = self.y + V * np.sin(self.theta) * self.period - path = "Going straight" + # -----Construct Odom Message----- + if(rospy.get_param("/motor_driver_node/publish_odom")): + self.odom_msg.header.stamp = rospy.Time.now() + self.odom_msg.header.frame_id = rospy.get_param("/motor_driver_node/odom_header_frame") + self.odom_msg.child_frame_id = rospy.get_param("/motor_driver_node/odom_child_frame") + self.odom_msg.pose.pose.position.x = x + self.odom_msg.pose.pose.position.y = y + self.odom_msg.pose.pose.position.z = 0.0 + orientation = quaternion_from_euler(0, 0, theta) + self.odom_msg.pose.pose.orientation.x = orientation[0] + self.odom_msg.pose.pose.orientation.y = orientation[1] + self.odom_msg.pose.pose.orientation.z = orientation[2] + self.odom_msg.pose.pose.orientation.w = orientation[3] + self.odom_msg.pose.covariance[0] = 0.0001 + self.odom_msg.pose.covariance[7] = 0.0001 + self.odom_msg.pose.covariance[14] = 0.000001 + self.odom_msg.pose.covariance[21] = 0.000001 + self.odom_msg.pose.covariance[28] = 0.000001 + self.odom_msg.pose.covariance[35] = 0.0001 + self.odom_msg.twist.twist.linear.x = V + self.odom_msg.twist.twist.linear.y = 0.0 + self.odom_msg.twist.twist.angular.z = Wz + self.odom_pub.publish(self.odom_msg) - #-----Construct tf----- - q = quaternion_from_euler(0, 0, self.theta) - self.t.header.stamp = rospy.Time.now() - self.t.header.frame_id = self.obj["TF_header_flame"] - self.t.child_frame_id = self.obj["TF_child_flame"] - self.t.transform.translation.x = self.x - self.t.transform.translation.y = self.y - self.t.transform.translation.z = 0.0 - self.t.transform.rotation.x = q[0] - self.t.transform.rotation.y = q[1] - self.t.transform.rotation.z = q[2] - self.t.transform.rotation.w = q[3] - self.br.sendTransform(self.t) - - #-----Construct odom message----- - self.odom_msg.header.stamp = rospy.Time.now() - self.odom_msg.header.frame_id = self.obj["odom_header_flame"] - self.odom_msg.child_frame_id = self.obj["odom_child_flame"] - self.odom_msg.pose.pose.position.x = self.x - self.odom_msg.pose.pose.position.y = self.y - self.odom_msg.pose.pose.position.z = 0.0 - self.odom_msg.pose.pose.orientation.x = q[0] - self.odom_msg.pose.pose.orientation.y = q[1] - self.odom_msg.pose.pose.orientation.z = q[2] - self.odom_msg.pose.pose.orientation.w = q[3] - self.odom_msg.pose.covariance[0] = 0.0001 - self.odom_msg.pose.covariance[7] = 0.0001 - self.odom_msg.pose.covariance[14] = 0.000001 - self.odom_msg.pose.covariance[21] = 0.000001 - self.odom_msg.pose.covariance[28] = 0.000001 - self.odom_msg.pose.covariance[35] = 0.0001 - self.odom_msg.twist.twist.linear.x = V - self.odom_msg.twist.twist.linear.y = 0.0 - self.odom_msg.twist.twist.angular.z = Wz - self.odom_pub.publish(self.odom_msg) - - return vl, vr + self.state_vector[0, 0] = x + self.state_vector[1, 0] = y + self.state_vector[2, 0] = theta + return x, y, theta """ - ++++++++++++++++++++++++++++++++++++++++++ - control_loop function - ++++++++++++++++++++++++++++++++++++++++++ + ############################## + ## control_loop function ## + ############################## Control loop. """ def control_loop(self): - rate = rospy.Rate(20) # 20Hz + rate = rospy.Rate(1 / self.period) + estop_reset_flag = False + while True: if rospy.is_shutdown(): - self.zlc.disable_motor() - break - - start_time = time.perf_counter() + # -----Disable Motor----- + result = self.client.write_register(self.CONTROL_REG, self.DOWN_TIME, unit = self.ID) - #-----Speed rpm control mode----- - if self.control_mode == 3: - if self.got_twist_cmd: - self.left_rpm_cmd, self.right_rpm_cmd = self.twist_to_rpm(self.linear_vel_cmd, self.angular_vel_cmd) - self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) - self.got_twist_cmd = False - elif self.got_vel_cmd: - self.left_rpm_cmd, self.right_rpm_cmd = self.vel_to_rpm(self.left_vel_cmd, self.right_vel_cmd) - self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) - self.got_vel_cmd = False - elif self.got_vel_rpm_cmd: - self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) - self.got_vel_rpm_cmd = False - elif (time.perf_counter() - self.last_subscribed_time > self.callback_timeout): - self.left_rpm_cmd = 0.0 - self.right_rpm_cmd = 0.0 - self.zlac8015d_set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) - - fb_L_rpm, fb_R_rpm = self.zlc.get_rpm() - self.wheels_rpm_msg.data = [fb_L_rpm, fb_R_rpm] - self.wheels_rpm_pub.publish(self.wheels_rpm_msg) - - #-----relative position control mode----- - elif self.control_mode == 1: - if self.got_pos_deg_cmd: - self.zlc.set_relative_angle(self.left_pos_deg_cmd ,self.right_pos_deg_cmd) - self.zlc.move_left_wheel() - self.zlc.move_right_wheel() - self.got_pos_deg_cmd = False - elif self.got_pos_dist_cmd: - left_cmd_deg = (self.left_pos_dist_cmd * 360.0) / self.zlc.travel_in_one_rev - right_cmd_deg = (-self.right_pos_dist_cmd * 360.0) / self.zlc.travel_in_one_rev - self.zlc.set_relative_angle(left_cmd_deg, right_cmd_deg) - self.zlc.move_left_wheel() - self.zlc.move_right_wheel() - self.got_pos_dist_cmd = False + break + + start_time = time.perf_counter() + if self.estop == True: + # -----Emergency Stop----- + result = self.client.write_register(self.CONTROL_REG, self.EMER_STOP, unit=self.ID) + + estop_reset_flag = True + elif self.estop == False: + if estop_reset_flag == True: + # -----Clear Alarm----- + result = self.client.write_register(self.CONTROL_REG, self.ALRM_CLR, unit=self.ID) + + # -----Disable Motor----- + result = self.client.write_register(self.CONTROL_REG, self.DOWN_TIME, unit = self.ID) + + # -----Enable Motor----- + result = self.client.write_register(self.CONTROL_REG, self.ENABLE, unit = self.ID) + + estop_reset_flag = False + + # -----Speed RPM Control----- + if self.control_mode == 3: + if self.got_twist_cmd: + self.left_rpm_cmd, self.right_rpm_cmd = self.twist_to_rpm(self.linear_vel_cmd, self.angular_vel_cmd) + self.set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) + self.got_twist_cmd = False + elif self.got_vel_cmd: + self.left_rpm_cmd, self.right_rpm_cmd = self.vel_to_rpm(self.left_vel_cmd, self.right_vel_cmd) + self.set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) + self.got_vel_cmd = False + elif self.got_vel_rpm_cmd: + self.set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) + self.got_vel_rpm_cmd = False + elif (time.perf_counter() - self.last_subscribed_time) > self.callback_timeout: + self.left_rpm_cmd = 0.0 + self.right_rpm_cmd = 0.0 + self.set_rpm_with_limit(self.left_rpm_cmd, self.right_rpm_cmd) + + # -----Position Control----- + elif self.control_mode == 1: + if self.got_pos_deg_cmd: + self.set_relative_angle(self.left_pos_deg_cmd ,self.right_pos_deg_cmd) + # -----Move Left Wheel----- + result = self.client.write_register(self.CONTROL_REG, self.POS_L_START, unit=self.ID) + + # -----Move Right Wheel----- + result = self.client.write_register(self.CONTROL_REG, self.POS_R_START, unit=self.ID) + + self.got_pos_deg_cmd = False + elif self.got_pos_dist_cmd: + self.left_pos_deg_cmd, self.right_pos_deg_cmd = self.dist_to_relative_angle(self.left_pos_dist_cmd, self.right_pos_dist_cmd) + self.set_relative_angle(self.left_pos_deg_cmd ,self.right_pos_deg_cmd) + # -----Move Left Wheel----- + result = self.client.write_register(self.CONTROL_REG, self.POS_L_START, unit=self.ID) + + # -----Move Right Wheel----- + result = self.client.write_register(self.CONTROL_REG, self.POS_R_START, unit=self.ID) + + self.got_pos_dist_cmd = False #-----Odometry computation----- - vl, vr = self.calculate_odometry() - + self.calculate_odometry() self.period = time.perf_counter() - start_time self.prev_l_meter = self.l_meter self.prev_r_meter = self.r_meter - #-----Logging to screen----- - if self.control_mode == 1: - print("\033[32m" + "\rcontrol_mode: {:d} | l_meter: {:.2f} | r_meter: {:.2f} | VL: {:.3f} | VR: {:.3f}".format(\ - self.control_mode, self.l_meter, self.r_meter, vl, vr) + "\033[0m", end = "") + #-----Debugging Feature----- + if (rospy.get_param("/motor_driver_node/debug")): + print("\033[32m" + "x: {:f} | y: {:f} | yaw: {:f}".format(self.x, self.y, np.rad2deg(self.theta)) + "\033[0m") else: - print("\033[32m" + "\rcontrol_mode: {:d} | left_rpm: {:.2f} | right_rpm: {:.2f} | l_meter: {:.2f} | r_meter: {:.2f} | VL: {:.3f} | VR: {:.3f}".format(\ - self.control_mode, fb_L_rpm, -fb_R_rpm, self.l_meter, self.r_meter, vl, vr) + "\033[0m", end = "") - - rate.sleep() + pass + rate.sleep() + """ -++++++++++++++++++++++++++++++++++++++++++ - main function -++++++++++++++++++++++++++++++++++++++++++ +################### +## Main function ## +################### Main. """ def main(): @@ -374,4 +617,4 @@ rospy.spin() if __name__ == "__main__": - main() \ No newline at end of file + main()