ViconReceiver() :
    nh_priv("~"), diag_updater(), min_freq(0.1), max_freq(1000),
        freq_status(diagnostic_updater::FrequencyStatusParam(&min_freq, &max_freq)), StreamMode("ClientPullPreFetch"),
        HostName(""), SubjectName(""), SegmentName(""), tf_ref_frame_id("/enu"),
        tf_tracked_frame_id("/pelican1/flyer_vicon"), update_rate(100), vicon_capture_rate(50),
        max_period_between_updates(0), max_abs_jitter(0), lastFrameNumber(0), frameCount(0), droppedFrameCount(0),
        frame_datum(0), latest_time_bias(0), time_bias_reset_count(0), n_markers(0), n_unlabeled_markers(0),
        time_bias_reset(0.05), segment_data_enabled(false), marker_data_enabled(false),
        unlabeled_marker_data_enabled(false), enable_tf_broadcast(false)

  {
    // Diagnostics
    diag_updater.add("ViconReceiver Status", this, &ViconReceiver::diagnostics);
    diag_updater.add(freq_status);
    diag_updater.setHardwareID("none");
    diag_updater.force_update();
    // Parameters
    nh_priv.param("stream_mode", StreamMode, StreamMode);
    nh_priv.param("datastream_hostport", HostName, HostName);
    nh_priv.param("subject_name", SubjectName, SubjectName);
    nh_priv.param("segment_name", SegmentName, SegmentName);
    nh_priv.param("update_rate", update_rate, update_rate);
    nh_priv.param("vicon_capture_rate", vicon_capture_rate, vicon_capture_rate);
    nh_priv.param("tf_ref_frame_id", tf_ref_frame_id, tf_ref_frame_id);
    nh_priv.param("tf_tracked_frame_id", tf_tracked_frame_id, tf_tracked_frame_id);
    nh_priv.param("time_bias_reset", time_bias_reset, time_bias_reset);
    nh_priv.param("enable_tf_broadcast", enable_tf_broadcast, enable_tf_broadcast);
    ROS_ASSERT(init_vicon());
    // Service Server
    ROS_INFO("setting up grab_vicon_pose service server ... ");
    m_grab_vicon_pose_service_server = nh_priv.advertiseService("grab_vicon_pose",
                                                                &ViconReceiver::grab_vicon_pose_callback, this);
    // Publishers
    pose_pub = nh_priv.advertise<geometry_msgs::TransformStamped> ("output", 10);
    markers_pub = nh_priv.advertise<vicon_mocap::Markers> ("markers", 10);
    // Timer
    double update_timer_period = 1 / update_rate;
    min_freq = 0.95 * vicon_capture_rate;
    max_freq = 1.05 * vicon_capture_rate;
    updateTimer = nh.createTimer(ros::Duration(update_timer_period), &ViconReceiver::updateCallback, this);
  }
Пример #2
0
  ViconReceiver() :
    nh_priv("~"), diag_updater(), min_freq_(0.1), max_freq_(1000),
        freq_status_(diagnostic_updater::FrequencyStatusParam(&min_freq_, &max_freq_)), stream_mode_("ClientPull"),
        host_name_(""), tf_ref_frame_id_("/world"), tracked_frame_suffix_("vicon"), broadcast_tf_(true),
        lastFrameNumber(0), frameCount(0), droppedFrameCount(0), frame_datum(0), n_markers(0), n_unlabeled_markers(0),
        marker_data_enabled(false), unlabeled_marker_data_enabled(false), grab_frames_(false)

  {
    // Diagnostics
    diag_updater.add("ViconReceiver Status", this, &ViconReceiver::diagnostics);
    diag_updater.add(freq_status_);
    diag_updater.setHardwareID("none");
    diag_updater.force_update();
    // Parameters
    nh_priv.param("stream_mode", stream_mode_, stream_mode_);
    nh_priv.param("datastream_hostport", host_name_, host_name_);
    nh_priv.param("tf_ref_frame_id", tf_ref_frame_id_, tf_ref_frame_id_);
    nh_priv.param("broadcast_tf", broadcast_tf_, broadcast_tf_);
    ROS_ASSERT(init_vicon());
    // Service Server
    ROS_INFO("setting up grab_vicon_pose service server ... ");
    m_grab_vicon_pose_service_server = nh_priv.advertiseService("grab_vicon_pose", &ViconReceiver::grabPoseCallback,
                                                                this);

    ROS_INFO("setting up segment calibration service server ... ");
    calibrate_segment_server_ = nh_priv.advertiseService("calibrate_segment", &ViconReceiver::calibrateSegmentCallback,
                                                         this);

    // Publishers
    marker_pub_ = nh.advertise<vicon_bridge::Markers> (tracked_frame_suffix_ + "/markers", 10);

    if (broadcast_tf_)
      tf_broadcaster_ = new tf::TransformBroadcaster();

    startGrabbing();
  }
Пример #3
0
  ///\brief Opens joystick port, reads from port and publishes while node is active
  int main(int argc, char **argv)
  {
    diagnostic_.add("Joystick Driver Status", this, &Joystick::diagnostics);
    diagnostic_.setHardwareID("none");

    // Parameters
    ros::NodeHandle nh_param("~");
    pub_ = nh_.advertise<fmMsgs::Joy>("joy", 1);
    nh_param.param<std::string>("dev", joy_dev_, "/dev/input/js0");
    nh_param.param<double>("deadzone", deadzone_, 0.05);
    nh_param.param<double>("autorepeat_rate", autorepeat_rate_, 0);
    nh_param.param<double>("coalesce_interval", coalesce_interval_, 0.001);
    
    // Checks on parameters
    if (autorepeat_rate_ > 1 / coalesce_interval_)
      ROS_WARN("joy_node: autorepeat_rate (%f Hz) > 1/coalesce_interval (%f Hz) does not make sense. Timing behavior is not well defined.", autorepeat_rate_, 1/coalesce_interval_);
    
    if (deadzone_ >= 1)
    {
      ROS_WARN("joy_node: deadzone greater than 1 was requested. The semantics of deadzone have changed. It is now related to the range [-1:1] instead of [-32767:32767]. For now I am dividing your deadzone by 32767, but this behavior is deprecated so you need to update your launch file.");
      deadzone_ /= 32767;
    }
    
    if (deadzone_ > 0.9)
    {
      ROS_WARN("joy_node: deadzone (%f) greater than 0.9, setting it to 0.9", deadzone_);
      deadzone_ = 0.9;
    }
    
    if (deadzone_ < 0)
    {
      ROS_WARN("joy_node: deadzone_ (%f) less than 0, setting to 0.", deadzone_);
      deadzone_ = 0;
    }

    if (autorepeat_rate_ < 0)
    {
      ROS_WARN("joy_node: autorepeat_rate (%f) less than 0, setting to 0.", autorepeat_rate_);
      autorepeat_rate_ = 0;
    }
    
    if (coalesce_interval_ < 0)
    {
      ROS_WARN("joy_node: coalesce_interval (%f) less than 0, setting to 0.", coalesce_interval_);
      coalesce_interval_ = 0;
    }
    
    // Parameter conversions
    double autorepeat_interval = 1 / autorepeat_rate_;
    double scale = -1. / (1. - deadzone_) / 32767.;
    double unscaled_deadzone = 32767. * deadzone_;

    js_event event;
    struct timeval tv;
    fd_set set;
    int joy_fd;
    event_count_ = 0;
    pub_count_ = 0;
    lastDiagTime_ = ros::Time::now().toSec();
    
    // Big while loop opens, publishes
    while (nh_.ok())
    {                                      
      open_ = false;
      diagnostic_.force_update();
      bool first_fault = true;
      while (true)
      {
        ros::spinOnce();
        if (!nh_.ok())
          goto cleanup;
        joy_fd = open(joy_dev_.c_str(), O_RDONLY);
        if (joy_fd != -1)
        {
          // There seems to be a bug in the driver or something where the
          // initial events that are to define the initial state of the
          // joystick are not the values of the joystick when it was opened
          // but rather the values of the joystick when it was last closed.
          // Opening then closing and opening again is a hack to get more
          // accurate initial state data.
          close(joy_fd);
          joy_fd = open(joy_dev_.c_str(), O_RDONLY);
        }
        if (joy_fd != -1)
          break;
        if (first_fault)
        {
          ROS_ERROR("Couldn't open joystick %s. Will retry every second.", joy_dev_.c_str());
          first_fault = false;
        }
        sleep(1.0);
        diagnostic_.update();
      }
      
      ROS_INFO("Opened joystick: %s. deadzone_: %f.", joy_dev_.c_str(), deadzone_);
      open_ = true;
      diagnostic_.force_update();
      
      bool tv_set = false;
      bool publication_pending = false;
      tv.tv_sec = 1;
      tv.tv_usec = 0;
      fmMsgs::Joy joy_msg; // Here because we want to reset it on device close.
      while (nh_.ok()) 
      {
        ros::spinOnce();
        
        bool publish_now = false;
        bool publish_soon = false;
        FD_ZERO(&set);
        FD_SET(joy_fd, &set);
        
        //ROS_INFO("Select...");
        int select_out = select(joy_fd+1, &set, NULL, NULL, &tv);
        //ROS_INFO("Tick...");
        if (select_out == -1)
        {
          tv.tv_sec = 0;
          tv.tv_usec = 0;
          //ROS_INFO("Select returned negative. %i", ros::isShuttingDown());
          continue;
          //				break; // Joystick is probably closed. Not sure if this case is useful.
        }
        
        if (FD_ISSET(joy_fd, &set))
        {
          if (read(joy_fd, &event, sizeof(js_event)) == -1 && errno != EAGAIN)
            break; // Joystick is probably closed. Definitely occurs.
          
          //ROS_INFO("Read data...");
          joy_msg.header.stamp = ros::Time().now();
          event_count_++;
          switch(event.type)
          {
          case JS_EVENT_BUTTON:
          case JS_EVENT_BUTTON | JS_EVENT_INIT:
            if(event.number >= joy_msg.buttons.size())
            {
              int old_size = joy_msg.buttons.size();
              joy_msg.buttons.resize(event.number+1);
              for(unsigned int i=old_size;i<joy_msg.buttons.size();i++)
                joy_msg.buttons[i] = 0.0;
            }
            joy_msg.buttons[event.number] = (event.value ? 1 : 0);
            // For initial events, wait a bit before sending to try to catch
            // all the initial events.
            if (!(event.type & JS_EVENT_INIT))
              publish_now = true;
            else
              publish_soon = true;
            break;
          case JS_EVENT_AXIS:
          case JS_EVENT_AXIS | JS_EVENT_INIT:
            if(event.number >= joy_msg.axes.size())
            {
              int old_size = joy_msg.axes.size();
              joy_msg.axes.resize(event.number+1);
              for(unsigned int i=old_size;i<joy_msg.axes.size();i++)
                joy_msg.axes[i] = 0.0;
            }
            if (!(event.type & JS_EVENT_INIT)) // Init event.value is wrong.
            {
              double val = event.value;
              // Allows deadzone to be "smooth"
              if (val > unscaled_deadzone)
                val -= unscaled_deadzone;
              else if (val < -unscaled_deadzone)
                val += unscaled_deadzone;
              else
                val = 0;
              joy_msg.axes[event.number] = val * scale;
            }
            // Will wait a bit before sending to try to combine events. 				
            publish_soon = true;
            break;
          default:
            ROS_WARN("joy_node: Unknown event type. Please file a ticket. time=%u, value=%d, type=%Xh, number=%d", event.time, event.value, event.type, event.number);
            break;
          }
        }
        else if (tv_set) // Assume that the timer has expired.
          publish_now = true;
        
        if (publish_now)
        {
          // Assume that all the JS_EVENT_INIT messages have arrived already.
          // This should be the case as the kernel sends them along as soon as
          // the device opens.
          //ROS_INFO("Publish...");
          pub_.publish(joy_msg);
          publish_now = false;
          tv_set = false;
          publication_pending = false;
          publish_soon = false;
          pub_count_++;
        }
        
        // If an axis event occurred, start a timer to combine with other
        // events.
        if (!publication_pending && publish_soon)
        {
          tv.tv_sec = trunc(coalesce_interval_);
          tv.tv_usec = (coalesce_interval_ - tv.tv_sec) * 1e6;
          publication_pending = true;
          tv_set = true;
          //ROS_INFO("Pub pending...");
        }
        
        // If nothing is going on, start a timer to do autorepeat.
        if (!tv_set && autorepeat_rate_ > 0)
        {
          tv.tv_sec = trunc(autorepeat_interval);
          tv.tv_usec = (autorepeat_interval - tv.tv_sec) * 1e6; 
          tv_set = true;
          //ROS_INFO("Autorepeat pending... %i %i", tv.tv_sec, tv.tv_usec);
        }
        
        if (!tv_set)
        {
          tv.tv_sec = 1;
          tv.tv_usec = 0;
        }
	
        diagnostic_.update();
      } // End of joystick open loop.
      
      close(joy_fd);
      ros::spinOnce();
      if (nh_.ok())
        ROS_ERROR("Connection to joystick device lost unexpectedly. Will reopen.");
    }
    
  cleanup:
    ROS_INFO("joy_node shut down.");
    
    return 0;
  }