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odometry.cc File Reference

vehicle position and velocity monitoring More...

#include <ros/ros.h>
#include <angles/angles.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/Imu.h>
#include <geometry_msgs/PoseStamped.h>
#include <art_msgs/GpsInfo.h>
#include <tf/transform_broadcaster.h>
#include <art_msgs/Shifter.h>
#include <art/frames.h>
#include <art/UTM.h>
#include "applanix.h"
#include "position.h"
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Defines

#define NODE   "applanix"

Functions

void displayHelp ()
bool getNewData (applanix_data_t *adata)
bool getOdom (Position::Position3D *odom_pos3d, ros::Time *odom_time, ros::Publisher *gps_pub)
int getParameters (int argc, char *argv[])
void getShifter (const art_msgs::Shifter::ConstPtr &shifterIn)
bool GlobalToLocal (Position::Pose3D *current)
int main (int argc, char **argv)
void publishGPS (const applanix_data_t &adata, double utm_e, double utm_n, const char *zone, ros::Publisher *gps_pub)
void putPose (const Position::Position3D *odom_pos3d, const ros::Time *odom_time, tf::TransformBroadcaster *odom_broad, ros::Publisher *odom_pub, ros::Publisher *imu_pub)

Detailed Description

vehicle position and velocity monitoring

ROS odometry driver for the Applanix Position and Orientation System for Land Vehicles (POS-LV).

The odometry driver publishes its best estimate of the vehicle's location, velocity and yaw rate. It collects data from the Applanix Position and Orientation System for Land Vehicles (POS-LV) which provides differential GPS and accurate inertial navigation.

Publishes
Subscribes
Author:
Jack O'Quin, Patrick Beeson

Definition in file odometry.cc.


Define Documentation

#define NODE   "applanix"

Definition at line 59 of file odometry.cc.


Function Documentation

void displayHelp (  ) 

Definition at line 370 of file odometry.cc.

bool getNewData ( applanix_data_t adata  ) 

Get new Applanix data.

Returns:
true if new data available.

Updates *adata if possible.

Definition at line 143 of file odometry.cc.

bool getOdom ( Position::Position3D odom_pos3d,
ros::Time odom_time,
ros::Publisher gps_pub 
)

Get any new odometry data available

Updates odometry information, which will be published if valid packets available and this is not the first call.

Publishes GPS information, if new data received.

Parameters:
odom_pos3d -> updated position, if new data
odom_time -> updated time when new data received
gps_pub -> GpsInfo ROS topic publisher
Returns:
true if odometry should be published

Definition at line 231 of file odometry.cc.

int getParameters ( int  argc,
char *  argv[] 
)

get command line and ROS parameters

Returns:
0 if successful

Definition at line 392 of file odometry.cc.

void getShifter ( const art_msgs::Shifter::ConstPtr shifterIn  ) 

subscriber callback for current shifter position data

Definition at line 291 of file odometry.cc.

bool GlobalToLocal ( Position::Pose3D current  ) 

Global to local coordinate transform.

Translate current pose from UTM meters (northing, easting) to local coordinates by subtracting initial pose.

returns: true if initial pose, false otherwise

Definition at line 86 of file odometry.cc.

int main ( int  argc,
char **  argv 
)

main program

Definition at line 441 of file odometry.cc.

void publishGPS ( const applanix_data_t adata,
double  utm_e,
double  utm_n,
const char *  zone,
ros::Publisher gps_pub 
)

Publish GpsInfo message.

Todo:
unpack Applanix grp2 and grp3 data to complete other fields

Definition at line 187 of file odometry.cc.

void putPose ( const Position::Position3D odom_pos3d,
const ros::Time odom_time,
tf::TransformBroadcaster odom_broad,
ros::Publisher odom_pub,
ros::Publisher imu_pub 
)

Publish the current 3D Pose and accelerations

Todo:
figure covariances of Pose and Twist
Todo:
figure covariances of IMU data

Definition at line 300 of file odometry.cc.

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applanix
Author(s): Jack O'Quin, Patrick Beeson, Alberto Alonso
autogenerated on Fri Mar 1 14:13:19 2013