ellensohn/rmp220_middleware
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try to solve issues: possible to force disable the robot via controller. + ChassisFB

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Björn Ellensohn 2023-08-21 15:18:44 +02:00
parent 836a02d57c
commit c07ee727d7
1 changed files with 42 additions and 8 deletions
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50
rmp220_middleware/rmp220_middleware.py
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@ -7,15 +7,17 @@ from geometry_msgs.msg import Twist
from sensor_msgs.msg import Joy from sensor_msgs.msg import Joy
from enum import Enum from enum import Enum
from segway_msgs.srv import RosSetChassisEnableCmd from segway_msgs.srv import RosSetChassisEnableCmd
from segway_msgs.msg import ChassisModeFb
import atexit import atexit
import signal import signal
import sys import sys
class State(Enum): class State(Enum): # is this best-practice?
DISABLED = 0 DISABLED = 0
ENABLED = 1 PAUSED = 1
ENABLED = 2
class StateMachineNode(Node): class StateMachineNode(Node):
def __init__(self): def __init__(self):
@ -45,16 +47,46 @@ class StateMachineNode(Node):
self.get_logger().info('Service not available, waiting for chassis enable service...') self.get_logger().info('Service not available, waiting for chassis enable service...')
self.get_logger().info('Chassis enable service available.') self.get_logger().info('Chassis enable service available.')
# Create a subscriber for the chassis status topic
self.chassis_mode_sub = self.create_subscription(
ChassisModeFb,
'/chassis_mode_fb',
self.chassis_mode_callback,
10
)
self.chassis_mode = State.DISABLED
def chassis_mode_callback(self, msg):
# Handle the incoming chassis status message
# Need to figure out the type
if msg.chassis_mode == 1: # Assuming 1 represents enabled and 0 represents disabled
self.chassis_mode = State.ENABLED
else:
self.chassis_mode = State.DISABLED
def get_chassis_mode(self):
return self.chassis_mode
def enable_chassis(self): def enable_chassis(self):
req = RosSetChassisEnableCmd.Request() req = RosSetChassisEnableCmd.Request()
req.ros_set_chassis_enable_cmd = True req.ros_set_chassis_enable_cmd = True
self.chassis_enable_client.call_async(req) self.chassis_enable_client.call_async(req)
self.state = State.ENABLED
self.get_logger().info('Enabling chassis...') self.get_logger().info('Enabling chassis...')
def pause_chassis(self):
req = RosSetChassisEnableCmd.Request()
req.ros_set_chassis_enable_cmd = False
self.chassis_enable_client.call_async(req)
self.state = State.PAUSED
self.get_logger().info('Pausing chassis...')
def disable_chassis(self): def disable_chassis(self):
req = RosSetChassisEnableCmd.Request() req = RosSetChassisEnableCmd.Request()
req.ros_set_chassis_enable_cmd = False req.ros_set_chassis_enable_cmd = False
self.chassis_enable_client.call_async(req) self.chassis_enable_client.call_async(req)
self.state = State.DISABLED
self.get_logger().info('Disabling chassis...') self.get_logger().info('Disabling chassis...')
def joy_callback(self, msg): def joy_callback(self, msg):
@ -82,20 +114,22 @@ class StateMachineNode(Node):
self.timeout = 20.0 self.timeout = 20.0
def timer_callback(self): def timer_callback(self):
if self.state == State.ENABLED: #if self.state == State.ENABLED:
if self.chassis_mode == State.ENABLED:
if self.timeout <= 0: if self.timeout <= 0:
self.state = State.DISABLED self.state = State.PAUSED
self.get_logger().info("State: DISABLED (Timeout)") self.get_logger().info("State: PAUSED (Timeout)")
self.disable_chassis() self.disable_chassis()
else: else:
self.timeout -= 0.01 self.timeout -= 0.01
self.cmd_vel_pub.publish(self.latest_cmd_vel) self.cmd_vel_pub.publish(self.latest_cmd_vel)
if self.state == State.DISABLED and (self.abs_x > 0.1 or self.abs_z > 0.1): # This is a hack to enable the chassis when receiving commands e.g. from Nav2 #if self.state == State.PAUSED and (self.abs_x > 0.1 or self.abs_z > 0.1): # This is a hack to enable the chassis when receiving commands e.g. from Nav2
if self.state == State.PAUSED and (self.abs_x > 0.1 or self.abs_z > 0.1): # This is a hack to enable the chassis when receiving commands e.g. from Nav2
self.state = State.ENABLED self.state = State.ENABLED
self.get_logger().info("State: ENABLED (cmd_vel)") self.get_logger().info("State: ENABLED (cmd_vel)")
self.enable_chassis() self.enable_chassis()
if self.state == State.DISABLED and (self.abs_x < 0.1 and self.abs_z < 0.1): # if self.state == State.PAUSED and (self.abs_x < 0.1 and self.abs_z < 0.1): # Is this even necessary?
self.cmd_vel_pub.publish(self.twist) # self.cmd_vel_pub.publish(self.twist)
def main(args=None): def main(args=None):
rclpy.init(args=args) rclpy.init(args=args)