max_sonar.py
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00001 #!/usr/bin/env python
00002 
00003 """
00004   max_sonar.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 max_sonar:
00040     def __init__(self):
00041         rospy.init_node("max_sonar")
00042         
00043         self.sensor = maxSonar() 
00044 
00045         # start channel broadcast using SetupAnalogIn
00046         rospy.wait_for_service('arbotix/SetupAnalogIn')
00047         analog_srv = rospy.ServiceProxy('arbotix/SetupAnalogIn', SetupChannel) 
00048         
00049         req = SetupChannelRequest()
00050         req.topic_name = rospy.get_param("~name")
00051         req.pin = rospy.get_param("~pin")
00052         req.rate = int(rospy.get_param("~rate",10))
00053         analog_srv(req)
00054 
00055         # setup a range message to use
00056         self.msg = Range()
00057         self.msg.radiation_type = self.sensor.radiation_type
00058         self.msg.field_of_view = self.sensor.field_of_view
00059         self.msg.min_range = self.sensor.min_range
00060         self.msg.max_range = self.sensor.max_range
00061 
00062         # publish/subscribe
00063         self.pub = rospy.Publisher("sonar_range", Range)
00064         rospy.Subscriber("arbotix/"+req.topic_name, Analog, self.readingCb)
00065 
00066         rospy.spin()
00067         
00068     def readingCb(self, msg):
00069         # convert msg.value into range.range
00070         self.msg.header.stamp = rospy.Time.now()
00071         self.msg.range = self.sensor.convert(msg.value<<2)
00072         self.pub.publish(self.msg)
00073 
00074 if __name__=="__main__":
00075     max_sonar()
00076 


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