driver.py
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00001 #!/usr/bin/env python
00002 
00003 """
00004   ArbotiX Node: serial connection to an ArbotiX board w/ PyPose/NUKE/ROS
00005   Copyright (c) 2008-2011 Michael E. Ferguson.  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_python')
00031 import rospy
00032 
00033 from arbotix_msgs.msg import *
00034 from arbotix_msgs.srv import *
00035 
00036 from arbotix_python.arbotix import ArbotiX
00037 from arbotix_python.diff_controller import DiffController
00038 from arbotix_python.follow_controller import FollowController
00039 from arbotix_python.publishers import *
00040 from arbotix_python.servos import *
00041 from arbotix_python.io import *
00042 
00043 ###############################################################################
00044 # Main ROS interface
00045 class ArbotixROS(ArbotiX):
00046     
00047     def __init__(self):
00048         pause = False
00049 
00050         # load configurations    
00051         port = rospy.get_param("~port", "/dev/ttyUSB0")
00052         baud = int(rospy.get_param("~baud", "115200"))
00053 
00054         self.rate = rospy.get_param("~rate", 100.0)
00055         self.fake = rospy.get_param("~sim", False)
00056 
00057         self.use_sync_read = rospy.get_param("~sync_read",True)      # use sync read?
00058         self.use_sync_write = rospy.get_param("~sync_write",True)    # use sync write?
00059 
00060         # setup publishers
00061         self.diagnostics = DiagnosticsPublisher()
00062         self.joint_state_publisher = JointStatePublisher()
00063 
00064         # start an arbotix driver
00065         if not self.fake:
00066             ArbotiX.__init__(self, port, baud)        
00067             rospy.sleep(1.0)
00068             rospy.loginfo("Started ArbotiX connection on port " + port + ".")
00069         else:
00070             rospy.loginfo("ArbotiX being simulated.")
00071 
00072         # initialize dynamixel & hobby servos
00073         self.servos = Servos(self)
00074 
00075         # setup controllers
00076         self.controllers = list()
00077         controllers = rospy.get_param("~controllers", dict())
00078         for name, params in controllers.items():
00079             if params["type"] == "follow_controller":
00080                 self.controllers.append(FollowController(self, name))
00081                 if self.controllers[-1].onboard:
00082                     pause = True
00083             elif params["type"] == "diff_controller":
00084                 self.controllers.append(DiffController(self, name))
00085                 pause = True
00086 #           elif params["type"] == "omni_controller":
00087 #               self.controllers.append(OmniController(self, name))
00088 #               pause = True
00089             else:
00090                 rospy.logerr("Unrecognized controller: " + params["type"])
00091 
00092         # wait for arbotix to start up (especially after reset)
00093         if not self.fake:
00094             if rospy.has_param("~digital_servos") or rospy.has_param("~digital_sensors") or rospy.has_param("~analog_sensors"):
00095                 pause = True
00096             if pause:
00097                 while self.getDigital(1) == -1:
00098                     rospy.loginfo("Waiting for response...")
00099                     rospy.sleep(0.25)
00100             rospy.loginfo("ArbotiX connected.")
00101 
00102         for controller in self.controllers:
00103             controller.startup()
00104 
00105         # services for io
00106         rospy.Service('~SetupAnalogIn',SetupChannel, self.analogInCb)
00107         rospy.Service('~SetupDigitalIn',SetupChannel, self.digitalInCb)
00108         rospy.Service('~SetupDigitalOut',SetupChannel, self.digitalOutCb)
00109         # initialize digital/analog IO streams
00110         self.io = dict()
00111         if not self.fake:
00112             for v,t in {"digital_servos":DigitalServo,"digital_sensors":DigitalSensor,"analog_sensors":AnalogSensor}.items():
00113                 temp = rospy.get_param("~"+v,dict())
00114                 for name in temp.keys():
00115                     pin = rospy.get_param('~'+v+'/'+name+'/pin',1)
00116                     value = rospy.get_param('~'+v+'/'+name+'/value',0)
00117                     rate = rospy.get_param('~'+v+'/'+name+'/rate',10)
00118                     self.io[name] = t(name, pin, value, rate, self)
00119         
00120         r = rospy.Rate(self.rate)
00121 
00122         # main loop -- do all the read/write here
00123         while not rospy.is_shutdown():
00124     
00125             # update controllers
00126             for controller in self.controllers:
00127                 controller.update()
00128 
00129             # update servo positions (via sync_write)
00130             self.servos.update(self.use_sync_write)
00131 
00132             # update io
00133             for io in self.io.values():
00134                 io.update()
00135 
00136             # publish
00137             self.servos.interpolate(self.use_sync_read)
00138             self.joint_state_publisher.update(self.servos, self.controllers)
00139             self.diagnostics.update(self.servos, self.controllers)
00140 
00141             r.sleep()
00142 
00143         # do shutdown
00144         for controller in self.controllers:
00145             controller.shutdown()
00146 
00147 
00148     def analogInCb(self, req):
00149         # TODO: Add check, only 1 service per pin
00150         if not self.fake:
00151             self.io[req.topic_name] = AnalogSensor(req.topic_name, req.pin, req.value, req.rate, self) 
00152         return SetupChannelResponse()
00153 
00154     def digitalInCb(self, req):
00155         if not self.fake:
00156             self.io[req.topic_name] = DigitalSensor(req.topic_name, req.pin, req.value, req.rate, self) 
00157         return SetupChannelResponse()
00158 
00159     def digitalOutCb(self, req):
00160         if not self.fake:
00161             self.io[req.topic_name] = DigitalServo(req.topic_name, req.pin, req.value, req.rate, self) 
00162         return SetupChannelResponse()
00163 
00164 
00165 if __name__ == "__main__":
00166     rospy.init_node('arbotix')
00167     a = ArbotixROS()
00168 


corobot_arm
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autogenerated on Sun Oct 5 2014 23:18:08