imu_monitor.py

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#!/usr/bin/env python
 
import rospy
import PyKDL
from sensor_msgs.msg import Imu
from pr2_mechanism_controllers.msg import Odometer
from threading import Lock
from math import fabs, pi
from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 
EPS = 0.0001
 
class ImuMonitor:
    def __init__(self):
        self.lock = Lock()
 
        # reset state
        self.dist = 0.0
        self.drift = -1.0
        self.last_angle = 0.0
        self.start_angle = 0.0
        self.start_time = rospy.Time.now()
 
        # subscribe to topics
        self.imu_sub = rospy.Subscriber('torso_lift_imu/data', Imu, self.imu_cb)
        self.odom_sub = rospy.Subscriber('base_odometry/odometer', Odometer, self.odom_cb)
 
        # diagnostics
        self.pub_diag = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size= 1)
 
        self.diag_timer = rospy.Timer(rospy.Duration(1), self.publish_diagnostics)
 
 
    def imu_cb(self, msg):
        with self.lock:
            rot = PyKDL.Rotation.Quaternion(msg.orientation.x, msg.orientation.y,
                                            msg.orientation.z, msg.orientation.w)
            (r, p, self.last_angle) = rot.GetRPY()
 
    def odom_cb(self, msg):
        with self.lock:
            dist = msg.distance + (msg.angle * 0.25)
 
            # check if base moved
            if dist > self.dist + EPS:
                self.start_time = rospy.Time.now()
                self.start_angle = self.last_angle
                self.dist = dist
 
            # do imu test if possible
            if rospy.Time.now() > self.start_time + rospy.Duration(10.0):
                self.drift = fabs(self.start_angle - self.last_angle)*180/(pi*10)
                self.start_time = rospy.Time.now()
                self.start_angle = self.last_angle
                self.last_measured = rospy.Time.now()
 
    def publish_diagnostics(self, event):
        with self.lock:
            # publish diagnostics
            d = DiagnosticArray()
            d.header.stamp = rospy.Time.now()
            ds = DiagnosticStatus()
            ds.name = "imu_node: Imu Drift Monitor"
            if self.drift < 0.5:
                ds.level = DiagnosticStatus.OK
                ds.message = 'OK'
            elif self.drift < 1.0:
                ds.level = DiagnosticStatus.WARN
                ds.message = 'Drifting'
            else:
                ds.level = DiagnosticStatus.ERROR
                ds.message = 'Drifting'
            drift = self.drift
            if self.drift < 0:
                last_measured = 'No measurements yet, waiting for base to stop moving before measuring'
                drift = 'N/A'
            else:
                age = (rospy.Time.now() - self.last_measured).to_sec()
                if age < 60:
                    last_measured = '%f seconds ago'%age
                elif age < 3600:
                    last_measured = '%f minutes ago'%(age/60)
                else:
                    last_measured = '%f hours ago'%(age/3600)
            ds.values = [
                KeyValue('Last measured', last_measured),
                KeyValue('Drift (deg/sec)', str(drift)) ]
            d.status = [ds]
            self.pub_diag.publish(d)
 
def main():
    rospy.init_node('imu_monitor')
    rospy.sleep(0.001) # init time
 
    monitor = ImuMonitor()
 
    rospy.spin()
 
 
if __name__ == '__main__':
    main()