ros_filter.h

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/*
 * Copyright (c) 2015, Charles River Analytics, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions
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 * disclaimer in the documentation and/or other materials provided
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#ifndef RobotLocalization_RosFilter_h
#define RobotLocalization_RosFilter_h

#include "robot_localization/ros_filter_utilities.h"
#include "robot_localization/filter_common.h"
#include "robot_localization/filter_base.h"
#include "robot_localization/SetPose.h"

#include <ros/ros.h>
#include <std_msgs/String.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/Imu.h>
#include <geometry_msgs/TwistWithCovarianceStamped.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <tf/message_filter.h>
#include <message_filters/subscriber.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include <diagnostic_msgs/DiagnosticStatus.h>

#include <XmlRpcException.h>

#include <Eigen/Dense>

#include <numeric>
#include <fstream>

// Some typedefs for message filter shared pointers
typedef boost::shared_ptr< message_filters::Subscriber<geometry_msgs::PoseWithCovarianceStamped> > poseMFSubPtr;
typedef boost::shared_ptr< message_filters::Subscriber<geometry_msgs::TwistWithCovarianceStamped> > twistMFSubPtr;
typedef boost::shared_ptr< tf::MessageFilter<geometry_msgs::PoseWithCovarianceStamped> > poseMFPtr;
typedef boost::shared_ptr< tf::MessageFilter<geometry_msgs::TwistWithCovarianceStamped> > twistMFPtr;
typedef boost::shared_ptr< tf::MessageFilter<sensor_msgs::Imu> > imuMFPtr;

namespace RobotLocalization
{
  typedef std::priority_queue<Measurement, std::vector<Measurement>, Measurement> MeasurementQueue;

  template<class T> class RosFilter
  {
    public:

      RosFilter(std::vector<double> args = std::vector<double>());

      ~RosFilter();

      void accelerationCallback(const sensor_msgs::Imu::ConstPtr &msg,
                                const std::string &topicName,
                                const std::string &targetFrame,
                                const std::vector<int> &updateVector,
                                const double mahalanobisThresh);

      void enqueueMeasurement(const std::string &topicName,
                              const Eigen::VectorXd &measurement,
                              const Eigen::MatrixXd &measurementCovariance,
                              const std::vector<int> &updateVector,
                              const double mahalanobisThresh,
                              const ros::Time &time);

      void forceTwoD(Eigen::VectorXd &measurement,
                     Eigen::MatrixXd &measurementCovariance,
                     std::vector<int> &updateVector);

      bool getFilteredOdometryMessage(nav_msgs::Odometry &message);

      void imuCallback(const sensor_msgs::Imu::ConstPtr &msg,
                       const std::string &topicName);

      void integrateMeasurements(const double currentTime);

      void loadParams();

      void odometryCallback(const nav_msgs::Odometry::ConstPtr &msg,
                            const std::string &topicName);

      void poseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg,
                        const std::string &topicName,
                        const std::string &targetFrame,
                        const std::vector<int> &updateVector,
                        const bool differential,
                        const bool relative,
                        const bool imuData,
                        const double mahalanobisThresh);

      void run();

      void setPoseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg);

      bool setPoseSrvCallback(robot_localization::SetPose::Request& request,
                              robot_localization::SetPose::Response&);

      std::string tfFailureReasonString(const tf::FilterFailureReason reason);

      void transformImuFailureCallback(const sensor_msgs::Imu::ConstPtr &msg,
                                       const tf::FilterFailureReason reason,
                                       const std::string &topicName,
                                       const std::string &targetFrame);

      void transformPoseFailureCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg,
                                        const tf::FilterFailureReason reason,
                                        const std::string &topicName,
                                        const std::string &targetFrame);

      void transformTwistFailureCallback(const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &msg,
                                         const tf::FilterFailureReason reason,
                                         const std::string &topicName,
                                         const std::string &targetFrame);

      void twistCallback(const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &msg,
                         const std::string &topicName,
                         const std::string &targetFrame,
                         const std::vector<int> &updateVector,
                         const double mahalanobisThresh);

    protected:

      void addDiagnostic(const int errLevel,
                         const std::string &topicAndClass,
                         const std::string &message,
                         const bool staticDiag);

      void aggregateDiagnostics(diagnostic_updater::DiagnosticStatusWrapper &wrapper);

      void copyCovariance(const double *arr,
                          Eigen::MatrixXd &covariance,
                          const std::string &topicName,
                          const std::vector<int> &updateVector,
                          const size_t offset,
                          const size_t dimension);

      void copyCovariance(const Eigen::MatrixXd &covariance,
                          double *arr,
                          const size_t dimension);

      std::vector<int> loadUpdateConfig(const std::string &topicName);

      bool lookupTransformSafe(const std::string &targetFrame, const std::string &sourceFrame,
                               const ros::Time &time, tf::StampedTransform &targetFrameTrans);

      bool prepareAcceleration(const sensor_msgs::Imu::ConstPtr &msg,
                               const std::string &topicName,
                               const std::string &targetFrame,
                               std::vector<int> &updateVector,
                               Eigen::VectorXd &measurement,
                               Eigen::MatrixXd &measurementCovariance);

      bool preparePose(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg,
                       const std::string &topicName,
                       const std::string &targetFrame,
                       const bool differential,
                       const bool relative,
                       const bool imuData,
                       std::vector<int> &updateVector,
                       Eigen::VectorXd &measurement,
                       Eigen::MatrixXd &measurementCovariance);

      bool prepareTwist(const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &msg,
                        const std::string &topicName,
                        const std::string &targetFrame,
                        std::vector<int> &updateVector,
                        Eigen::VectorXd &measurement,
                        Eigen::MatrixXd &measurementCovariance);

      std::map<std::string, imuMFPtr> accelerationMessageFilters_;

      std::string baseLinkFrameId_;

      std::map<std::string, std::string> staticDiagnostics_;

      std::map<std::string, std::string> dynamicDiagnostics_;

      std::ofstream debugStream_;

      int dynamicDiagErrorLevel_;

      diagnostic_updater::Updater diagnosticUpdater_;

      T filter_;

      double frequency_;

      std::vector<ros::Subscriber> imuTopicSubs_;

      std::map<std::string, tf::Transform> initialMeasurements_;

      std::map<std::string, ros::Time> lastMessageTimes_;

      ros::Time lastSetPoseTime_;

      std::string mapFrameId_;

      MeasurementQueue measurementQueue_;

      ros::NodeHandle nh_;

      ros::NodeHandle nhLocal_;

      std::string odomFrameId_;

      std::vector<ros::Subscriber> odomTopicSubs_;

      std::map<std::string, poseMFPtr> poseMessageFilters_;

      std::vector<poseMFSubPtr> poseTopicSubs_;

      std::map<std::string, tf::Transform> previousMeasurements_;

      std::map<std::string, Eigen::MatrixXd> previousMeasurementCovariances_;

      bool printDiagnostics_;

      std::map<std::string, bool> removeGravitationalAcc_;

      ros::Subscriber setPoseSub_;

      ros::ServiceServer setPoseSrv_;

      std::vector<std::string> stateVariableNames_;

      int staticDiagErrorLevel_;

      tf::TransformListener tfListener_;

      std::string tfPrefix_;

      ros::Duration tfTimeOffset_;

      std::map<std::string, twistMFPtr> twistMessageFilters_;

      std::vector<twistMFSubPtr>  twistTopicSubs_;

      bool twoDMode_;

      geometry_msgs::TransformStamped worldBaseLinkTransMsg_;

      std::string worldFrameId_;

  };
}

#endif