wheel_counts_per_km.py

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#!/usr/bin/env python3
 
# Software License Agreement (BSD License)
#
# Copyright (c) 2019, Dataspeed Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without modification,
# are permitted provided that the following conditions are met:
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#       this list of conditions and the following disclaimer.
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#       software without specific prior written permission.
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import rospy
from dbw_mkz_msgs.msg import WheelPositionReport, FuelLevelReport
from math import fabs
 
class WheelCountsPerKm:
    def __init__(self):
        rospy.init_node('wheel_counts_per_km')
        
        # Variables
        self.wheel_position_old = 0
        self.wheel_position_old_ready = False
        self.msg_fuel_level = FuelLevelReport()
        self.msg_fuel_level_ready = False
        self.msg_wheel_position = WheelPositionReport()
        self.msg_wheel_position_ready = False
        
        # Subscribers
        rospy.Subscriber('/vehicle/fuel_level_report', FuelLevelReport, self.recv_fuel_level)
        rospy.Subscriber('/vehicle/wheel_position_report', WheelPositionReport, self.recv_wheel_position)
 
    def recv_fuel_level(self, msg):
        if self.msg_fuel_level_ready:
            if int(msg.odometer) == int(self.msg_fuel_level.odometer + 1):
                if self.wheel_position_old_ready:
                    diff = self.msg_wheel_position.rear_left - self.wheel_position_old.rear_left
                    if diff < 0:
                        diff += 65536
                    rospy.loginfo('Odometer km increment: '  + str(diff) + ' wheel position counts.')
                else:
                    rospy.loginfo('Odometer km increment: (first)')
                if self.msg_wheel_position_ready:
                    self.wheel_position_old = self.msg_wheel_position
                    self.wheel_position_old_ready = True
        self.msg_fuel_level = msg
        self.msg_fuel_level_ready = True
 
    def recv_wheel_position(self, msg):
        self.msg_wheel_position = msg
        self.msg_wheel_position_ready = True
 
if __name__ == '__main__':
    try:
        node = WheelCountsPerKm()
        rospy.spin()
    except rospy.ROSInterruptException:
        pass