Public Member Functions | Static Public Member Functions | Public Attributes | Private Member Functions | Private Attributes
pheeno_robot.PheenoRobot Class Reference

List of all members.

Public Member Functions

def __init__
def angular_velocity
def angular_velocity
def avoid_obstacle
def get_accelerometer_data
def get_encoder_data
def get_gyroscope_data
def get_ir_data
def get_magnetometer_data
def is_ir_sensor_triggered
def is_obstacle_detected
def linear_velocity
def linear_velocity
def obstacle_velocity
def obstacle_velocity
def publish_cmd_vel

Static Public Member Functions

def random_turn

Public Attributes

 pheeno_id

Private Member Functions

def __callback_accelerometer
def __callback_encoder
def __callback_gyroscope
def __callback_ir_sensor
def __callback_magnetometer

Private Attributes

 _pub
 _sensor_data
 _velocity

Detailed Description

PheenoRobot Class

Provides a easier way of generating all the necessary attributes, ROS
publishers and subscribers, and useful methods for running a Pheeno robot.
Just instantiate the class to a variable within a script and all the
necessary ROS calls are generated automatically. Many of the attributes
of the Pheeno are hidden from users (except velocity ones) and require
getters to get them.

Parameters
----------
robot_id : str
    ID number of the pheeno.
linear : int/float
    Initial linear velocity of the robot.
angular : int/float
    Initial angular velocity of the robot.
obstacle_velocity : int/float
    Velocity for obstacle avoidance. In terms of angular velocity, may be faster or
    slower than the current value of angular velocity.

Attributes
----------
pheeno_id : str
    The ID of the pheeno that is used as the namespace for pheeno ROS publishers and
    subscribers.
linear_velocity : float (default 0)
    The linear velocity of the robot.
angular_velocity : float (default 0)
    The angular velocity of the robot.
obstacle_velocity : float (default 0.5)
    If a robot approaces an obstacle, this is the angular velocity used for obstacle
    avoidance.

Methods
-------
get_ir_data
    Returns the IR data for a specific sensor. If the "all" option is
    used, then all the data is returned as a list.
    Options: "center", "back", "right", "left", "cr", "cl", "all"
get_encoder_data
    Returns encoder data for a specific encoder. If the "all" option is
    used, then all the data is returned as a list.
    Options: "LL", "LR", "RL", "RR", "all"
get_magnetometer_data
    Returns magnetometer data for a specific coordinate. If the "all" option
    is used, then all the data is returned as a list.
    Options: "x", "y", "z", "all"
get_gyroscope_data
    Returns gyroscope data for a specific coordinate. If "all" option is
    used, then all the data is returned as a list.
    Options: "x", "y", "z", "all"
get_accelerometer_data
    Returns accelerometer data for a specific coordinate. If "all" option
    is used, then all the data is returned as a list.
    Options: "x", "y", "z", "all"
avoid_obstacle
    Obstacle avoidance algorithm based on IR sensors. Call when wanting to
    plan motion while still trying to avoid obstacles.
is_obstacle_detected
    Bool return if any IR sensor has been tripped.
is_ir_sensor_triggered
    Bool return if a SPECIFIC IR sensor has been tripped.

Examples
--------
>>> # If you have more than 10 robots add a `0` to the first
>>> # 9 numbers.
>>> pheeno = PheenoRobot("01", linear_vel=0.8, angular_vel=0)

Definition at line 22 of file pheeno_robot.py.


Constructor & Destructor Documentation

def pheeno_robot.PheenoRobot.__init__ (   self,
  robot_id,
  linear_velocity = 0,
  angular_velocity = 0,
  obstacle_velocity = 0.5 
)

Definition at line 95 of file pheeno_robot.py.


Member Function Documentation

def pheeno_robot.PheenoRobot.__callback_accelerometer (   self,
  msg 
) [private]
Callback for Accelerometer sensor subscriber 

Definition at line 188 of file pheeno_robot.py.

def pheeno_robot.PheenoRobot.__callback_encoder (   self,
  msg,
  location 
) [private]
Callback for Encoder sensors subscriber 

Definition at line 172 of file pheeno_robot.py.

def pheeno_robot.PheenoRobot.__callback_gyroscope (   self,
  msg 
) [private]
Callback for Gyroscope sensor subscriber 

Definition at line 182 of file pheeno_robot.py.

def pheeno_robot.PheenoRobot.__callback_ir_sensor (   self,
  msg,
  location 
) [private]
Callback for IR sensors subscriber 

Definition at line 168 of file pheeno_robot.py.

def pheeno_robot.PheenoRobot.__callback_magnetometer (   self,
  msg 
) [private]
Callback for Magnetometer sensor subscriber 

Definition at line 176 of file pheeno_robot.py.

Angular velocity property 

Definition at line 209 of file pheeno_robot.py.

def pheeno_robot.PheenoRobot.angular_velocity (   self,
  value 
)
Angular velocity setter property 

Definition at line 214 of file pheeno_robot.py.

def pheeno_robot.PheenoRobot.avoid_obstacle (   self,
  limit,
  linear_vel,
  angular_vel 
)
Obstacle avoidance algorithm

Given a desired linear and angular velocity, the algorithm will set those
values as the robots linear and angular velocity if no obstacle is in
the way. If there is, the linear velocity of the robot is set to zero,
and the angular velocity is set of a positive or negative version of the
obstacle velocity robot attribute depending on certain conditions.

Arguments
---------
limit : int/float
    The ir sensor limit.
linear_vel : float
    The desired linear velocity a user would like to set if there are
    no obstacles in the way.
angular_vel : float
    The desired angular velocity a user would like to set if there are
    no obstacles in the way.

Examples
-------
For a robot moving along a linear path, the method may be called as such:
>>> ir_limit = 15  # in cm
>>> desired_linear = 0.7
>>> desired_angular = 0  # b/c we don't want it to turn
>>> pheeno.avoid_obstacle(ir_limit, desired_linear, desired_angular)

If no obstacle is in the path of the robot, the attributes `linear_velocity`
and `angular_velocity` are set to 0.7 and 0, respectively. If not, the
values are set based on the internal logic of the algorithm. Assign these
values to the proper places in a `geometry_msg.Twist()` msg and call the
`publish_cmd_vel(twist_msg)` method to enact the changes.


Definition at line 295 of file pheeno_robot.py.

Getter for Accelerometer data 

Definition at line 280 of file pheeno_robot.py.

def pheeno_robot.PheenoRobot.get_encoder_data (   self,
  key 
)
Getter for Encoder data 

Definition at line 247 of file pheeno_robot.py.

Getter for Gyroscope data 

Definition at line 269 of file pheeno_robot.py.

def pheeno_robot.PheenoRobot.get_ir_data (   self,
  key 
)
Getter for IR Sensor data 

Definition at line 236 of file pheeno_robot.py.

Getter for Magnetometer data 

Definition at line 258 of file pheeno_robot.py.

def pheeno_robot.PheenoRobot.is_ir_sensor_triggered (   self,
  key,
  limit 
)
Returns bool if the specific IR sensor is triggered 

Definition at line 372 of file pheeno_robot.py.

def pheeno_robot.PheenoRobot.is_obstacle_detected (   self,
  limit 
)
Returns bool if an obstacle is in the way of any IR sensor 

Definition at line 364 of file pheeno_robot.py.

Linear velocity property 

Definition at line 195 of file pheeno_robot.py.

def pheeno_robot.PheenoRobot.linear_velocity (   self,
  value 
)
Linear velocity setter property 

Definition at line 200 of file pheeno_robot.py.

Obstacle velocity property 

Definition at line 223 of file pheeno_robot.py.

def pheeno_robot.PheenoRobot.obstacle_velocity (   self,
  value 
)
Obstacle velocity setter property 

Definition at line 228 of file pheeno_robot.py.

def pheeno_robot.PheenoRobot.publish_cmd_vel (   self,
  twist_msg 
)
Publish an movement  velocity on the `cmd_vel` topic 

Definition at line 291 of file pheeno_robot.py.

Given a velocity, generate a random turn direction 

Definition at line 380 of file pheeno_robot.py.


Member Data Documentation

Definition at line 95 of file pheeno_robot.py.

Definition at line 95 of file pheeno_robot.py.

Definition at line 95 of file pheeno_robot.py.

Definition at line 95 of file pheeno_robot.py.


The documentation for this class was generated from the following file:


pheeno_ros
Author(s): Zahi Kakish, Sean Wilson
autogenerated on Thu Jun 6 2019 21:26:16