ir_ranger.py
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00001 #!/usr/bin/env python
00002 
00003 """
00004   ir_ranger.py - convert analog stream into range measurements
00005   Copyright (c) 2011 Vanadium Labs LLC.  All right reserved.
00006 
00007   Redistribution and use in source and binary forms, with or without
00008   modification, are permitted provided that the following conditions are met:
00009       * Redistributions of source code must retain the above copyright
00010         notice, this list of conditions and the following disclaimer.
00011       * Redistributions in binary form must reproduce the above copyright
00012         notice, this list of conditions and the following disclaimer in the
00013         documentation and/or other materials provided with the distribution.
00014       * Neither the name of Vanadium Labs LLC nor the names of its 
00015         contributors may be used to endorse or promote products derived 
00016         from this software without specific prior written permission.
00017   
00018   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00019   ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00020   WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00021   DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT, INDIRECT,
00022   INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
00023   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
00024   OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
00025   LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
00026   OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
00027   ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00028 """
00029 
00030 import roslib; roslib.load_manifest('arbotix_sensors')
00031 import rospy
00032 
00033 from sensor_msgs.msg import Range
00034 from arbotix_msgs.msg import Analog
00035 from arbotix_msgs.srv import SetupChannel, SetupChannelRequest
00036 
00037 from arbotix_python.sensors import *
00038 
00039 class ir_ranger:
00040     def __init__(self):
00041         rospy.init_node("ir_ranger")
00042         
00043         # sensor type: choices are A710YK (40-216"), A02YK (8-60"), A21YK (4-30")
00044         self.sensor_t = rospy.get_param("~type","GP2D12")
00045         if self.sensor_t == "A710YK" or self.sensor_t == "ultralong":
00046             self.sensor = gpA710YK()
00047         elif self.sensor_t == "A02YK" or self.sensor_t == "long":
00048             self.sensor = gpA02YK()
00049         else:
00050             self.sensor = gp2d12() 
00051 
00052         # start channel broadcast using SetupAnalogIn
00053         rospy.wait_for_service('arbotix/SetupAnalogIn')
00054         analog_srv = rospy.ServiceProxy('arbotix/SetupAnalogIn', SetupChannel) 
00055         
00056         req = SetupChannelRequest()
00057         req.topic_name = rospy.get_param("~name")
00058         req.pin = rospy.get_param("~pin")
00059         req.rate = int(rospy.get_param("~rate",10))
00060         analog_srv(req)
00061 
00062         # setup a range message to use
00063         self.msg = Range()
00064         self.msg.radiation_type = self.sensor.radiation_type
00065         self.msg.field_of_view = self.sensor.field_of_view
00066         self.msg.min_range = self.sensor.min_range
00067         self.msg.max_range = self.sensor.max_range
00068 
00069         # publish/subscribe
00070         self.pub = rospy.Publisher("ir_range", Range)
00071         rospy.Subscriber("arbotix/"+req.topic_name, Analog, self.readingCb)
00072 
00073         rospy.spin()
00074         
00075     def readingCb(self, msg):
00076         # convert msg.value into range.range
00077         self.msg.header.stamp = rospy.Time.now()
00078         self.msg.range = self.sensor.convert(msg.value<<2)
00079         self.pub.publish(self.msg)
00080 
00081 if __name__=="__main__":
00082     ir_ranger()
00083 


arbotix_sensors
Author(s): Michael Ferguson
autogenerated on Sun Oct 5 2014 22:16:08