single_miniq_node.cpp

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* Author: Gonçalo Cabrita on 20/08/2012
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#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>                  // odom
#include <geometry_msgs/Twist.h>                // cmd_vel
#include <lse_sensor_msgs/Nostril.h>            // nose

#include "miniQ.h"

miniQ robot = miniQ();

void cmdVelReceived(const geometry_msgs::Twist::ConstPtr& cmd_vel)
{
    robot.setVelocities(cmd_vel->linear.x, cmd_vel->angular.z);
}


int main(int argc, char** argv)
{
        ros::init(argc, argv, "miniq_node");

        ROS_INFO("miniQ for ROS - Single robot version.");

        ros::NodeHandle n;
        ros::NodeHandle pn("~");
    
        std::string port;
        pn.param<std::string>("port", port, "/dev/ttyUSB0");
        int baudrate;
        pn.param("baudrate", baudrate, 57600);
        
        tf::TransformBroadcaster odom_broadcaster;
        
        ros::Publisher odom_pub = n.advertise<nav_msgs::Odometry>("/odom", 50);
        ros::Subscriber cmd_vel_sub = n.subscribe<geometry_msgs::Twist>("/cmd_vel", 10, cmdVelReceived);

        ros::Publisher nose_pub = n.advertise<lse_sensor_msgs::Nostril>("/nose", 50);
    
        if(!miniQ::openPort((char*)port.c_str(), baudrate))
        {
                ROS_FATAL("miniQ -- Failed to open serial port %s at %d baud!", port.c_str(), baudrate);
                ROS_BREAK();
        }
        ROS_INFO("miniQ -- Successfully connected to the miniQ!");
    
        ros::Duration(0.5).sleep();
    
        if(!robot.checkVersion())
        {
                ROS_FATAL("miniQ -- The firmware version of the miniQ robot is not compatible with this ROS node!");
                ROS_BREAK();
        }
    
        ros::Time current_time;
        
        ros::Rate r(MINIQ_RATE);
        while(n.ok())
        {
        current_time = ros::Time::now();
        
        if(!robot.update()) ROS_WARN("miniQ -- Failed to update the data!!!");
        else
        {
                double odom_x = robot.getX();
                double odom_y = robot.getY();
                double odom_yaw = robot.getYaw();

                //ROS_INFO("Publishing data... %lf %lf %lf", odom_x, odom_y, odom_yaw);
                
                // Since all odometry is 6DOF we'll need a quaternion created from yaw
                geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(odom_yaw);
                
                // First, we'll publish the transform over tf
                geometry_msgs::TransformStamped odom_trans;
                odom_trans.header.stamp = current_time;
                odom_trans.header.frame_id = "odom";
                odom_trans.child_frame_id = "base_link";
                
                odom_trans.transform.translation.x = odom_x;
                odom_trans.transform.translation.y = odom_y;
                odom_trans.transform.rotation = odom_quat;
                
                // Send the transform
                odom_broadcaster.sendTransform(odom_trans);
                
                // Next, we'll publish the odometry message over ROS
                nav_msgs::Odometry odom;
                odom.header.stamp = current_time;
                odom.header.frame_id = "odom";
                
                // Set the position
                odom.pose.pose.position.x = odom_x;
                odom.pose.pose.position.y = odom_y;
                odom.pose.pose.orientation = odom_quat;
                
                // Set the velocity
                odom.child_frame_id = "base_link";
                odom.twist.twist.linear.x = robot.getLinearVelocity();
                odom.twist.twist.angular.z = robot.getAngularVelocity();
                
                // Publish the message
                odom_pub.publish(odom);

                // Nose data...
                lse_sensor_msgs::Nostril nose_msg; 
                
                nose_msg.header.stamp = current_time;
                nose_msg.header.frame_id = "base_link";

                nose_msg.sensor_model = "e2v MiCS 5524";
                nose_msg.reading = robot.getGas();
                nose_msg.min_reading = 0.0;
                nose_msg.max_reading = 1.0;
                nose_msg.clean_air = 0.0;
                nose_msg.raw_data = robot.getRawGas();

                nose_pub.publish(nose_msg);
        }

                ros::spinOnce();
                r.sleep();
        }
        
        return 0;
}

// EOF