fake_localization.cpp

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#include <ros/ros.h>
#include <ros/time.h>

#include <nav_msgs/Odometry.h>
#include <geometry_msgs/PoseArray.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>

#include <angles/angles.h>

#include "ros/console.h"

#include "tf/transform_broadcaster.h"
#include "tf/transform_listener.h"
#include "tf/message_filter.h"
#include "message_filters/subscriber.h"


class FakeOdomNode
{
  public:
    FakeOdomNode(void)
    {
      m_posePub = m_nh.advertise<geometry_msgs::PoseWithCovarianceStamped>("amcl_pose",1,true);
      m_particlecloudPub = m_nh.advertise<geometry_msgs::PoseArray>("particlecloud",1,true);
      m_tfServer = new tf::TransformBroadcaster();      
      m_tfListener = new tf::TransformListener();

      m_base_pos_received = false;

      ros::NodeHandle private_nh("~");
      private_nh.param("odom_frame_id", odom_frame_id_, std::string("odom"));
      private_nh.param("base_frame_id", base_frame_id_, std::string("base_link")); 
      private_nh.param("global_frame_id", global_frame_id_, std::string("/map"));
      private_nh.param("delta_x", delta_x_, 0.0);
      private_nh.param("delta_y", delta_y_, 0.0);
      private_nh.param("delta_yaw", delta_yaw_, 0.0);      
      private_nh.param("transform_tolerance", transform_tolerance_, 0.1);      
      m_particleCloud.header.stamp = ros::Time::now();
      m_particleCloud.header.frame_id = global_frame_id_;
      m_particleCloud.poses.resize(1);
      ros::NodeHandle nh;

      m_offsetTf = tf::Transform(tf::createQuaternionFromRPY(0, 0, -delta_yaw_ ), tf::Point(-delta_x_, -delta_y_, 0.0));

      stuff_sub_ = nh.subscribe("base_pose_ground_truth", 100, &FakeOdomNode::stuffFilter, this);
      filter_sub_ = new message_filters::Subscriber<nav_msgs::Odometry>(nh, "", 100);
      filter_ = new tf::MessageFilter<nav_msgs::Odometry>(*filter_sub_, *m_tfListener, base_frame_id_, 100);
      filter_->registerCallback(boost::bind(&FakeOdomNode::update, this, _1));

      // subscription to "2D Pose Estimate" from RViz:
      m_initPoseSub = new message_filters::Subscriber<geometry_msgs::PoseWithCovarianceStamped>(nh, "initialpose", 1);
      m_initPoseFilter = new tf::MessageFilter<geometry_msgs::PoseWithCovarianceStamped>(*m_initPoseSub, *m_tfListener, global_frame_id_, 1);
      m_initPoseFilter->registerCallback(boost::bind(&FakeOdomNode::initPoseReceived, this, _1));
    }

    ~FakeOdomNode(void)
    {
      if (m_tfServer)
        delete m_tfServer; 
    }


  private:
    ros::NodeHandle m_nh;
    ros::Publisher m_posePub;
    ros::Publisher m_particlecloudPub;
    message_filters::Subscriber<geometry_msgs::PoseWithCovarianceStamped>* m_initPoseSub;
    tf::TransformBroadcaster       *m_tfServer;
    tf::TransformListener          *m_tfListener;
    tf::MessageFilter<geometry_msgs::PoseWithCovarianceStamped>* m_initPoseFilter;
    tf::MessageFilter<nav_msgs::Odometry>* filter_;
    ros::Subscriber stuff_sub_; 
    message_filters::Subscriber<nav_msgs::Odometry>* filter_sub_;

    double                         delta_x_, delta_y_, delta_yaw_;
    bool                           m_base_pos_received;
    double transform_tolerance_;

    nav_msgs::Odometry  m_basePosMsg;
    geometry_msgs::PoseArray      m_particleCloud;
    geometry_msgs::PoseWithCovarianceStamped      m_currentPos;
    tf::Transform m_offsetTf;

    //parameter for what odom to use
    std::string odom_frame_id_;
    std::string base_frame_id_;
    std::string global_frame_id_;

  public:
    void stuffFilter(const nav_msgs::OdometryConstPtr& odom_msg){
      //we have to do this to force the message filter to wait for transforms
      //from odom_frame_id_ to base_frame_id_ to be available at time odom_msg.header.stamp
      //really, the base_pose_ground_truth should come in with no frame_id b/c it doesn't make sense
      boost::shared_ptr<nav_msgs::Odometry> stuff_msg(new nav_msgs::Odometry);
      *stuff_msg = *odom_msg;
      stuff_msg->header.frame_id = odom_frame_id_;
      filter_->add(stuff_msg);
    }

    void update(const nav_msgs::OdometryConstPtr& message){
      tf::Pose txi;
      tf::poseMsgToTF(message->pose.pose, txi);
      txi = m_offsetTf * txi;

      tf::Stamped<tf::Pose> odom_to_map;
      try
      {
        m_tfListener->transformPose(odom_frame_id_, tf::Stamped<tf::Pose>(txi.inverse(), message->header.stamp, base_frame_id_), odom_to_map);
      }
      catch(tf::TransformException &e)
      {
        ROS_ERROR("Failed to transform to %s from %s: %s\n", odom_frame_id_.c_str(), base_frame_id_.c_str(), e.what());
        return;
      }

      m_tfServer->sendTransform(tf::StampedTransform(odom_to_map.inverse(),
                                                     message->header.stamp + ros::Duration(transform_tolerance_),
                                                     global_frame_id_, message->header.frame_id));

      tf::Pose current;
      tf::poseMsgToTF(message->pose.pose, current);

      //also apply the offset to the pose
      current = m_offsetTf * current;

      geometry_msgs::Pose current_msg;
      tf::poseTFToMsg(current, current_msg);

      // Publish localized pose
      m_currentPos.header = message->header;
      m_currentPos.header.frame_id = global_frame_id_;
      m_currentPos.pose.pose = current_msg;
      m_posePub.publish(m_currentPos);

      // The particle cloud is the current position. Quite convenient.
      m_particleCloud.header = m_currentPos.header;
      m_particleCloud.poses[0] = m_currentPos.pose.pose;
      m_particlecloudPub.publish(m_particleCloud);
    }

    void initPoseReceived(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg){
      tf::Pose pose;
      tf::poseMsgToTF(msg->pose.pose, pose);

      if (msg->header.frame_id != global_frame_id_){
        ROS_WARN("Frame ID of \"initialpose\" (%s) is different from the global frame %s", msg->header.frame_id.c_str(), global_frame_id_.c_str());
      }

      // set offset so that current pose is set to "initialpose"    
      tf::StampedTransform baseInMap;
      try{
        m_tfListener->lookupTransform(base_frame_id_, global_frame_id_, msg->header.stamp, baseInMap);
      } catch(tf::TransformException){
        ROS_WARN("Failed to lookup transform!");
        return;
      }

      tf::Transform delta = pose * baseInMap;
      m_offsetTf = delta * m_offsetTf;

    }
};

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

  FakeOdomNode odom;

  ros::spin();

  return 0;
}