int RosAriaNode::Setup()
{
// Note, various objects are allocated here which are never deleted (freed), since Setup() is only supposed to be
// called once per instance, and these objects need to persist until the process terminates.
robot = new ArRobot();
ArArgumentBuilder *args = new ArArgumentBuilder(); // never freed
ArArgumentParser *argparser = new ArArgumentParser(args); // Warning never freed
argparser->loadDefaultArguments(); // adds any arguments given in /etc/Aria.args. Useful on robots with unusual serial port or baud rate (e.g. pioneer lx)
// Now add any parameters given via ros params (see RosAriaNode constructor):
// if serial port parameter contains a ':' character, then interpret it as hostname:tcpport
// for wireless serial connection. Otherwise, interpret it as a serial port name.
size_t colon_pos = serial_port.find(":");
if (colon_pos != std::string::npos)
{
args->add("-remoteHost"); // pass robot's hostname/IP address to Aria
args->add(serial_port.substr(0, colon_pos).c_str());
//ROS_INFO( "RosAria: using IP: [%s]", serial_port.substr(0, colon_pos).c_str() );
args->add("-remoteRobotTcpPort"); // pass robot's TCP port to Aria
args->add(serial_port.substr(colon_pos+1).c_str());
//ROS_INFO( "RosAria: using port: [%s]", serial_port.substr(colon_pos+1).c_str() );
}
else
{
args->add("-robotPort"); // pass robot's serial port to Aria
args->add(serial_port.c_str());
}
// if a baud rate was specified in baud parameter
if(serial_baud != 0)
{
args->add("-robotBaud");
char tmp[100];
snprintf(tmp, 100, "%d", serial_baud);
args->add(tmp);
}
if( debug_aria )
{
// turn on all ARIA debugging
args->add("-robotLogPacketsReceived"); // log received packets
args->add("-robotLogPacketsSent"); // log sent packets
args->add("-robotLogVelocitiesReceived"); // log received velocities
args->add("-robotLogMovementSent");
args->add("-robotLogMovementReceived");
ArLog::init(ArLog::File, ArLog::Verbose, aria_log_filename.c_str(), true);
}
// Connect to the robot
conn = new ArRobotConnector(argparser, robot); // warning never freed
if (!conn->connectRobot()) {
ROS_ERROR("RosAria: ARIA could not connect to robot! (Check ~port parameter is correct, and permissions on port device.)");
return 1;
}
// causes ARIA to load various robot-specific hardware parameters from the robot parameter file in /usr/local/Aria/params
if(!Aria::parseArgs())
{
ROS_ERROR("RosAria: ARIA error parsing ARIA startup parameters!");
return 1;
}
readParameters();
// Start dynamic_reconfigure server
dynamic_reconfigure_server = new dynamic_reconfigure::Server<rosaria::RosAriaConfig>;
/*
* 横向速度和纵向速度单位为米
*/
/*
* 初始化参数的最小值 其中TickMM=10 DriftFactor=-200 Revount=-32760
*/
// Setup Parameter Minimums
rosaria::RosAriaConfig dynConf_min;
dynConf_min.trans_accel = robot->getAbsoluteMaxTransAccel() / 1000;
dynConf_min.trans_decel = robot->getAbsoluteMaxTransDecel() / 1000;
// TODO: Fix rqt dynamic_reconfigure gui to handle empty intervals
// Until then, set unit length interval.
dynConf_min.lat_accel = ((robot->getAbsoluteMaxLatAccel() > 0.0) ? robot->getAbsoluteMaxLatAccel() : 0.1) / 1000;
dynConf_min.lat_decel = ((robot->getAbsoluteMaxLatDecel() > 0.0) ? robot->getAbsoluteMaxLatDecel() : 0.1) / 1000;
dynConf_min.rot_accel = robot->getAbsoluteMaxRotAccel() * M_PI/180;
dynConf_min.rot_decel = robot->getAbsoluteMaxRotDecel() * M_PI/180;
// I'm setting these upper bounds relitivly arbitrarily, feel free to increase them.
dynConf_min.TicksMM = 10;
dynConf_min.DriftFactor = -200;
dynConf_min.RevCount = -32760;
dynamic_reconfigure_server->setConfigMin(dynConf_min);
// 初始化参数的最大值 其中TickMM=200 DriftFactor=200 Revount=32760
rosaria::RosAriaConfig dynConf_max;
dynConf_max.trans_accel = robot->getAbsoluteMaxTransAccel() / 1000;
dynConf_max.trans_decel = robot->getAbsoluteMaxTransDecel() / 1000;
// TODO: Fix rqt dynamic_reconfigure gui to handle empty intervals
// Until then, set unit length interval.
dynConf_max.lat_accel = ((robot->getAbsoluteMaxLatAccel() > 0.0) ? robot->getAbsoluteMaxLatAccel() : 0.1) / 1000;
dynConf_max.lat_decel = ((robot->getAbsoluteMaxLatDecel() > 0.0) ? robot->getAbsoluteMaxLatDecel() : 0.1) / 1000;
dynConf_max.rot_accel = robot->getAbsoluteMaxRotAccel() * M_PI/180;
dynConf_max.rot_decel = robot->getAbsoluteMaxRotDecel() * M_PI/180;
// I'm setting these upper bounds relitivly arbitrarily, feel free to increase them.
dynConf_max.TicksMM = 200;
dynConf_max.DriftFactor = 200;
dynConf_max.RevCount = 32760;
dynamic_reconfigure_server->setConfigMax(dynConf_max);
// 初始化参数的默认值
rosaria::RosAriaConfig dynConf_default;
dynConf_default.trans_accel = robot->getTransAccel() / 1000;
dynConf_default.trans_decel = robot->getTransDecel() / 1000;
dynConf_default.lat_accel = robot->getLatAccel() / 1000;
dynConf_default.lat_decel = robot->getLatDecel() / 1000;
dynConf_default.rot_accel = robot->getRotAccel() * M_PI/180;
dynConf_default.rot_decel = robot->getRotDecel() * M_PI/180;
dynConf_default.TicksMM = TicksMM;
dynConf_default.DriftFactor = DriftFactor;
dynConf_default.RevCount = RevCount;
dynamic_reconfigure_server->setConfigDefault(dynConf_max);
dynamic_reconfigure_server->setCallback(boost::bind(&RosAriaNode::dynamic_reconfigureCB, this, _1, _2));
// Enable the motors
robot->enableMotors();
// disable sonars on startup
robot->disableSonar();
// callback will be called by ArRobot background processing thread for every SIP data packet received from robot
robot->addSensorInterpTask("ROSPublishingTask", 100, &myPublishCB);
// Initialize bumpers with robot number of bumpers
bumpers.front_bumpers.resize(robot->getNumFrontBumpers());
bumpers.rear_bumpers.resize(robot->getNumRearBumpers());
// Run ArRobot background processing thread
robot->runAsync(true);
return 0;
}
int main(int argc, char *argv[])
{
// Initialize location of Aria, Arnl and their args.
Aria::init();
Arnl::init();
// The robot object
ArRobot robot;
// Parse the command line arguments.
ArArgumentParser parser(&argc, argv);
// Read data_index if exists
int data_index;
bool exist_data_index;
parser.checkParameterArgumentInteger("dataIndex",&data_index,&exist_data_index);
// Load default arguments for this computer (from /etc/Aria.args, environment
// variables, and other places)
parser.loadDefaultArguments();
// Object that connects to the robot or simulator using program options
ArRobotConnector robotConnector(&parser, &robot);
// set up a gyro
ArAnalogGyro gyro(&robot);
ArLog::init(ArLog::File,ArLog::Normal,"run.log",false,true,true);
// Parse arguments for the simple connector.
if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
{
ArLog::log(ArLog::Normal, "\nUsage: %s -map mapfilename\n", argv[0]);
Aria::logOptions();
Aria::exit(1);
}
// Collision avoidance actions at higher priority
ArActionAvoidFront avoidAction("avoid",200);
ArActionLimiterForwards limiterAction("speed limiter near", 150, 500, 150);
ArActionLimiterForwards limiterFarAction("speed limiter far", 300, 1100, 400);
ArActionLimiterTableSensor tableLimiterAction;
//robot.addAction(&tableLimiterAction, 100);
//robot.addAction(&avoidAction,100);
//robot.addAction(&limiterAction, 95);
//robot.addAction(&limiterFarAction, 90);
// Goto action at lower priority
ArActionGoto gotoPoseAction("goto");
//robot.addAction(&gotoPoseAction, 50);
gotoPoseAction.setCloseDist(750);
// Stop action at lower priority, so the robot stops if it has no goal
ArActionStop stopAction("stop");
//robot.addAction(&stopAction, 40);
// Connect the robot
if (!robotConnector.connectRobot())
{
ArLog::log(ArLog::Normal, "Could not connect to robot... exiting");
Aria::exit(3);
}
if(!robot.isConnected())
{
ArLog::log(ArLog::Terse, "Internal error: robot connector succeeded but ArRobot::isConnected() is false!");
}
// Connector for laser rangefinders
ArLaserConnector laserConnector(&parser, &robot, &robotConnector);
// Sonar, must be added to the robot, used by teleoperation and wander to
// detect obstacles, and for localization if SONARNL
ArSonarDevice sonarDev;
// Add the sonar to the robot
robot.addRangeDevice(&sonarDev);
// Start the robot thread.
robot.runAsync(true);
// Connect to the laser(s) if lasers were configured in this robot's parameter
// file or on the command line, and run laser processing thread if applicable
// for that laser class. For the purposes of this demo, add all
// possible lasers to ArRobot's list rather than just the ones that were
// connected by this call so when you enter laser mode, you
// can then interactively choose which laser to use from that list of all
// lasers mentioned in robot parameters and on command line. Normally,
// only connected lasers are put in ArRobot's list.
if (!laserConnector.connectLasers(
false, // continue after connection failures
true, // add only connected lasers to ArRobot
true // add all lasers to ArRobot
))
{
ArLog::log(ArLog::Normal ,"Could not connect to lasers... exiting\n");
Aria::exit(2);
}
// Puntero a laser
ArSick* sick=(ArSick*)robot.findLaser(1);
// Conectamos el laser
sick->asyncConnect();
//Esperamos a que esté encendido
while(!sick->isConnected())
{
ArUtil::sleep(100);
}
ArLog::log(ArLog::Normal ,"Laser conectado\n");
// Set up things so data can be logged (only do it with the laser
// since it can overrun a 9600 serial connection which the sonar is
// more likely to have)
ArDataLogger dataLogger(&robot);
dataLogger.addToConfig(Aria::getConfig());
// add our logging to the config
//ArLog::addToConfig(Aria::getConfig());
// Set up a class that'll put the movement and gyro parameters into ArConfig
ArRobotConfig robotConfig(&robot);
robotConfig.addAnalogGyro(&gyro);
// Add additional range devices to the robot and path planning task.
// IRs if the robot has them.
robot.lock();
ArIRs irs;
robot.addRangeDevice(&irs);
// Bumpers.
ArBumpers bumpers;
robot.addRangeDevice(&bumpers);
// cause the sonar to turn off automatically
// when the robot is stopped, and turn it back on when commands to move
// are sent. (Note, this should not be done if you need the sonar
// data to localize, or for other purposes while stopped)
ArSonarAutoDisabler sonarAutoDisabler(&robot);
// Read in parameter files.
Aria::getConfig()->useArgumentParser(&parser);
if (!Aria::getConfig()->parseFile(Arnl::getTypicalParamFileName()))
{
ArLog::log(ArLog::Normal, "Trouble loading configuration file, exiting");
Aria::exit(5);
}
//Configuracion del laser
sick->setMinDistBetweenCurrent(0);
robot.enableMotors();
robot.setAbsoluteMaxTransVel(1000);
/* Finally, get ready to run the robot: */
robot.unlock();
Controlador driver(&robot);
if(exist_data_index){
driver.setDataIndex(data_index);
}
driver.runAsync();
ControlHandler handler(&driver,&robot);
// Use manual key handler
//handler.addKeyHandlers(&robot);
robot.addSensorInterpTask("ManualKeyHandler",50,handler.getFunctor());
ArLog::log(ArLog::Normal ,"Añadido manejador teclado\n");
// double x,y,dist,angle;
// ArPose punto;
// ArPose origen=robot.getPose();
// sick->lockDevice();
// for(int i=-90;i<90;i++){
// // Obtengo la medida de distancia y angulo
// dist=sick->currentReadingPolar(i,i+1,&angle);
// // Obtengo coordenadas del punto usando el laser como referencia
// x=dist*ArMath::cos(angle);
// y=dist*ArMath::sin(angle);
// //Roto los puntos
// ArMath::pointRotate(&x,&y,-origen.getTh());
// punto.setX(x);
// punto.setY(y);
// punto=punto + origen;
// printf("Medida: %d\t Angulo:%.2f\t Angulo:%.2f\t Distancia:%0.2f\t X:%0.2f\t Y:%0.2f\n",i,angle,angle+origen.getTh(),dist,punto.getX(),punto.getY());
// }
// printf("Medidas adquiridas\n");
// sick->unlockDevice();
robot.waitForRunExit();
//ArUtil::sleep(10000);
return 0;
}
int RosAriaNode::Setup()
{
// Note, various objects are allocated here which are never deleted (freed), since Setup() is only supposed to be
// called once per instance, and these objects need to persist until the process terminates.
robot = new ArRobot();
ArArgumentBuilder *args = new ArArgumentBuilder(); // never freed
ArArgumentParser *argparser = new ArArgumentParser(args); // Warning never freed
argparser->loadDefaultArguments(); // adds any arguments given in /etc/Aria.args. Useful on robots with unusual serial port or baud rate (e.g. pioneer lx)
// Now add any parameters given via ros params (see RosAriaNode constructor):
// if serial port parameter contains a ':' character, then interpret it as hostname:tcpport
// for wireless serial connection. Otherwise, interpret it as a serial port name.
size_t colon_pos = serial_port.find(":");
if (colon_pos != std::string::npos)
{
args->add("-remoteHost"); // pass robot's hostname/IP address to Aria
args->add(serial_port.substr(0, colon_pos).c_str());
args->add("-remoteRobotTcpPort"); // pass robot's TCP port to Aria
args->add(serial_port.substr(colon_pos+1).c_str());
}
else
{
args->add("-robotPort"); // pass robot's serial port to Aria
args->add(serial_port.c_str());
}
// if a baud rate was specified in baud parameter
if(serial_baud != 0)
{
args->add("-robotBaud");
char tmp[100];
snprintf(tmp, 100, "%d", serial_baud);
args->add(tmp);
}
if( debug_aria )
{
// turn on all ARIA debugging
args->add("-robotLogPacketsReceived"); // log received packets
args->add("-robotLogPacketsSent"); // log sent packets
args->add("-robotLogVelocitiesReceived"); // log received velocities
args->add("-robotLogMovementSent");
args->add("-robotLogMovementReceived");
ArLog::init(ArLog::File, ArLog::Verbose, aria_log_filename.c_str(), true);
}
// Connect to the robot
conn = new ArRobotConnector(argparser, robot); // warning never freed
if (!conn->connectRobot()) {
ROS_ERROR("RosAria: ARIA could not connect to robot! (Check ~port parameter is correct, and permissions on port device.)");
return 1;
}
// causes ARIA to load various robot-specific hardware parameters from the robot parameter file in /usr/local/Aria/params
if(!Aria::parseArgs())
{
ROS_ERROR("RosAria: ARIA error parsing ARIA startup parameters!");
return 1;
}
// Start dynamic_reconfigure server
dynamic_reconfigure_server = new dynamic_reconfigure::Server<rosaria::RosAriaConfig>;
robot->lock();
// Setup Parameter Minimums
rosaria::RosAriaConfig dynConf_min;
//arbitrary non-zero values so dynamic reconfigure isn't STUPID
dynConf_min.trans_vel_max = 0.1;
dynConf_min.rot_vel_max = 0.1;
dynConf_min.trans_accel = 0.1;
dynConf_min.trans_decel = 0.1;
dynConf_min.rot_accel = 0.1;
dynConf_min.rot_decel = 0.1;
// I'm setting these upper bounds relitivly arbitrarily, feel free to increase them.
dynConf_min.TicksMM = 10;
dynConf_min.DriftFactor = -200;
dynConf_min.RevCount = -32760;
dynamic_reconfigure_server->setConfigMin(dynConf_min);
rosaria::RosAriaConfig dynConf_max;
dynConf_max.trans_vel_max = robot->getAbsoluteMaxTransVel() / 1000.0;
dynConf_max.rot_vel_max = robot->getAbsoluteMaxRotVel() *M_PI/180.0;
dynConf_max.trans_accel = robot->getAbsoluteMaxTransAccel() / 1000.0;
dynConf_max.trans_decel = robot->getAbsoluteMaxTransDecel() / 1000.0;
dynConf_max.rot_accel = robot->getAbsoluteMaxRotAccel() * M_PI/180.0;
dynConf_max.rot_decel = robot->getAbsoluteMaxRotDecel() * M_PI/180.0;
// I'm setting these upper bounds relitivly arbitrarily, feel free to increase them.
dynConf_max.TicksMM = 200;
dynConf_max.DriftFactor = 200;
dynConf_max.RevCount = 32760;
dynamic_reconfigure_server->setConfigMax(dynConf_max);
dynConf_default.trans_vel_max = robot->getTransVelMax() / 1000.0;
dynConf_default.rot_vel_max = robot->getRotVelMax() *M_PI/180.0;
dynConf_default.trans_accel = robot->getTransAccel() / 1000.0;
dynConf_default.trans_decel = robot->getTransDecel() / 1000.0;
dynConf_default.rot_accel = robot->getRotAccel() * M_PI/180.0;
dynConf_default.rot_decel = robot->getRotDecel() * M_PI/180.0;
/* ROS_ERROR("ON ROBOT NOW\n\
Trans vel max: %f\n\
Rot vel max: %f\n\
\n\
trans accel: %f\n\
trans decel: %f\n\
rot accel: %f\n\
rot decel: %f", robot->getTransVelMax(), robot->getRotVelMax(), robot->getTransAccel(), robot->getTransDecel(), robot->getRotAccel(), robot->getRotDecel());
ROS_ERROR("IN DEFAULT CONFIG\n\
Trans vel max: %f\n\
Rot vel max: %f\n\
\n\
trans accel: %f\n\
trans decel: %f\n\
rot accel: %f\n\
rot decel: %f\n", dynConf_default.trans_vel_max, dynConf_default.rot_vel_max, dynConf_default.trans_accel, dynConf_default.trans_decel, dynConf_default.rot_accel, dynConf_default.rot_decel);*/
TicksMM = robot->getOrigRobotConfig()->getTicksMM();
DriftFactor = robot->getOrigRobotConfig()->getDriftFactor();
RevCount = robot->getOrigRobotConfig()->getRevCount();
dynConf_default.TicksMM = TicksMM;
dynConf_default.DriftFactor = DriftFactor;
dynConf_default.RevCount = RevCount;
dynamic_reconfigure_server->setConfigDefault(dynConf_default);
for(int i = 0; i < 16; i++)
{
sonar_tf_array[i].header.frame_id = frame_id_base_link;
std::stringstream _frame_id;
_frame_id << "sonar" << i;
sonar_tf_array[i].child_frame_id = _frame_id.str();
ArSensorReading* _reading = NULL;
_reading = robot->getSonarReading(i);
sonar_tf_array[i].transform.translation.x = _reading->getSensorX() / 1000.0;
sonar_tf_array[i].transform.translation.y = _reading->getSensorY() / 1000.0;
sonar_tf_array[i].transform.translation.z = 0.19;
sonar_tf_array[i].transform.rotation = tf::createQuaternionMsgFromYaw(_reading->getSensorTh() * M_PI / 180.0);
}
for (int i=0;i<16;i++) {
sensor_msgs::Range r;
ranges.data.push_back(r);
}
int i=0,j=0;
if (sonars__crossed_the_streams) {
i=8;
j=8;
}
for(; i<16; i++) {
//populate the RangeArray msg
std::stringstream _frame_id;
_frame_id << "sonar" << i;
ranges.data[i].header.frame_id = _frame_id.str();
ranges.data[i].radiation_type = 0;
ranges.data[i].field_of_view = 0.2618f;
ranges.data[i].min_range = 0.03f;
ranges.data[i].max_range = 5.0f;
}
// Enable the motors
robot->enableMotors();
robot->disableSonar();
// Initialize bumpers with robot number of bumpers
bumpers.front_bumpers.resize(robot->getNumFrontBumpers());
bumpers.rear_bumpers.resize(robot->getNumRearBumpers());
robot->unlock();
pose_pub = n.advertise<nav_msgs::Odometry>("pose",1000);
bumpers_pub = n.advertise<rosaria::BumperState>("bumper_state",1000);
voltage_pub = n.advertise<std_msgs::Float64>("battery_voltage", 1000);
combined_range_pub = n.advertise<rosaria::RangeArray>("ranges", 1000,
boost::bind(&RosAriaNode::sonarConnectCb,this),
boost::bind(&RosAriaNode::sonarDisconnectCb, this));
for(int i =0; i < 16; i++) {
std::stringstream topic_name;
topic_name << "range" << i;
range_pub[i] = n.advertise<sensor_msgs::Range>(topic_name.str().c_str(), 1000,
boost::bind(&RosAriaNode::sonarConnectCb,this),
boost::bind(&RosAriaNode::sonarDisconnectCb, this));
}
recharge_state_pub = n.advertise<std_msgs::Int8>("battery_recharge_state", 5, true /*latch*/ );
recharge_state.data = -2;
state_of_charge_pub = n.advertise<std_msgs::Float32>("battery_state_of_charge", 100);
motors_state_pub = n.advertise<std_msgs::Bool>("motors_state", 5, true /*latch*/ );
motors_state.data = false;
published_motors_state = false;
// subscribe to services
cmdvel_sub = n.subscribe( "cmd_vel", 1, (boost::function <void(const geometry_msgs::TwistConstPtr&)>)
boost::bind(&RosAriaNode::cmdvel_cb, this, _1 ));
// advertise enable/disable services
enable_srv = n.advertiseService("enable_motors", &RosAriaNode::enable_motors_cb, this);
disable_srv = n.advertiseService("disable_motors", &RosAriaNode::disable_motors_cb, this);
veltime = ros::Time::now();
sonar_tf_timer = n.createTimer(ros::Duration(0.033), &RosAriaNode::sonarCallback, this);
sonar_tf_timer.stop();
dynamic_reconfigure_server->setCallback(boost::bind(&RosAriaNode::dynamic_reconfigureCB, this, _1, _2));
// callback will be called by ArRobot background processing thread for every SIP data packet received from robot
robot->addSensorInterpTask("ROSPublishingTask", 100, &myPublishCB);
// Run ArRobot background processing thread
robot->runAsync(true);
return 0;
}