forked from Archive/PX4-Autopilot
first version of position estimator dummy node
This commit is contained in:
Thomas Gubler
parent
8a6b94adbf
commit
6f4f5d637d
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@ -204,6 +204,15 @@ target_link_libraries(attitude_estimator
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px4
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)
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## Position Estimator dummy
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add_executable(position_estimator
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src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
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add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
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target_link_libraries(position_estimator
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${catkin_LIBRARIES}
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px4
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)
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## Manual input
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add_executable(manual_input
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src/platforms/ros/nodes/manual_input/manual_input.cpp)
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@ -0,0 +1,107 @@
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/****************************************************************************
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*
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* Copyright (c) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file position_estimator.cpp
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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* @author Roman Bapst <romanbapst@yahoo.de>
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*/
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#include "position_estimator.h"
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#include <px4/vehicle_local_position.h>
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#include <mathlib/mathlib.h>
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#include <platforms/px4_defines.h>
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#include <platforms/px4_middleware.h>
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#include <vector>
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#include <string>
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#include <gazebo_msgs/ModelStates.h>
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PositionEstimator::PositionEstimator() :
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_n(),
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_sub_modelstates(_n.subscribe("/gazebo/model_states", 1, &PositionEstimator::model_states_callback, this)),
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_vehicle_position_pub(_n.advertise<px4::vehicle_local_position>("vehicle_local_position", 1)),
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_startup_time(px4::get_time_micros())
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{
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}
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void PositionEstimator::model_states_callback(const gazebo_msgs::ModelStatesConstPtr &msg)
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{
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//XXX: use a proper sensor topic
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px4::vehicle_local_position msg_v_l_pos;
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/* Fill px4 position topic with contents from modelstates topic */
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int index = 0;
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//XXX: maybe a more clever approach would be to do this not on every loop, need to check if and when
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//gazebo rearranges indexes.
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for(std::vector<std::string>::const_iterator it = msg->name.begin(); it != msg->name.end(); ++it) {
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if (*it == "iris" || *it == "ardrone") {
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index = it - msg->name.begin();
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break;
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}
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}
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msg_v_l_pos.xy_valid = true;
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msg_v_l_pos.z_valid = true;
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msg_v_l_pos.v_xy_valid = true;
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msg_v_l_pos.v_z_valid = true;
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msg_v_l_pos.x = msg->pose[index].position.x;
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msg_v_l_pos.y = -msg->pose[index].position.y;
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msg_v_l_pos.z = -msg->pose[index].position.z;
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msg_v_l_pos.vx = msg->twist[index].linear.x;
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msg_v_l_pos.vy = -msg->twist[index].linear.y;
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msg_v_l_pos.vz = -msg->twist[index].linear.z;
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msg_v_l_pos.xy_global = true;
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msg_v_l_pos.z_global = true;
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msg_v_l_pos.ref_timestamp = _startup_time;
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msg_v_l_pos.ref_lat = 47.378301;
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msg_v_l_pos.ref_lon = 8.538777;
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msg_v_l_pos.ref_alt = 1200.0f;
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msg_v_l_pos.timestamp = px4::get_time_micros();
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_vehicle_position_pub.publish(msg_v_l_pos);
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}
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int main(int argc, char **argv)
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{
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ros::init(argc, argv, "position_estimator");
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PositionEstimator m;
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ros::spin();
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return 0;
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}
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@ -0,0 +1,62 @@
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/****************************************************************************
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*
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* Copyright (c) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file position_estimator.h
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* Dummy position estimator that forwards attitude from gazebo to px4 topic
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#include "ros/ros.h"
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#include <gazebo_msgs/ModelStates.h>
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#include <sensor_msgs/Imu.h>
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class PositionEstimator
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{
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public:
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PositionEstimator();
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~PositionEstimator() {}
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protected:
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void model_states_callback(const gazebo_msgs::ModelStatesConstPtr &msg);
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ros::NodeHandle _n;
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ros::Subscriber _sub_modelstates;
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ros::Publisher _vehicle_position_pub;
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uint64_t _startup_time;
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};
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