odometry_helper_ros.cpp
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00035  * Author: TKruse
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00037 #include <base_local_planner/odometry_helper_ros.h>
00038 
00039 namespace base_local_planner {
00040 
00041 OdometryHelperRos::OdometryHelperRos(std::string odom_topic) {
00042   setOdomTopic( odom_topic );
00043 }
00044 
00045 void OdometryHelperRos::odomCallback(const nav_msgs::Odometry::ConstPtr& msg) {
00046     ROS_INFO_ONCE("odom received!");
00047 
00048   //we assume that the odometry is published in the frame of the base
00049   boost::mutex::scoped_lock lock(odom_mutex_);
00050   base_odom_.twist.twist.linear.x = msg->twist.twist.linear.x;
00051   base_odom_.twist.twist.linear.y = msg->twist.twist.linear.y;
00052   base_odom_.twist.twist.angular.z = msg->twist.twist.angular.z;
00053   base_odom_.child_frame_id = msg->child_frame_id;
00054 //  ROS_DEBUG_NAMED("dwa_local_planner", "In the odometry callback with velocity values: (%.2f, %.2f, %.2f)",
00055 //      base_odom_.twist.twist.linear.x, base_odom_.twist.twist.linear.y, base_odom_.twist.twist.angular.z);
00056 }
00057 
00058 //copy over the odometry information
00059 void OdometryHelperRos::getOdom(nav_msgs::Odometry& base_odom) {
00060   boost::mutex::scoped_lock lock(odom_mutex_);
00061   base_odom = base_odom_;
00062 }
00063 
00064 
00065 void OdometryHelperRos::getRobotVel(tf::Stamped<tf::Pose>& robot_vel) {
00066   // Set current velocities from odometry
00067   geometry_msgs::Twist global_vel;
00068   {
00069     boost::mutex::scoped_lock lock(odom_mutex_);
00070     global_vel.linear.x = base_odom_.twist.twist.linear.x;
00071     global_vel.linear.y = base_odom_.twist.twist.linear.y;
00072     global_vel.angular.z = base_odom_.twist.twist.angular.z;
00073 
00074     robot_vel.frame_id_ = base_odom_.child_frame_id;
00075   }
00076   robot_vel.setData(tf::Transform(tf::createQuaternionFromYaw(global_vel.angular.z), tf::Vector3(global_vel.linear.x, global_vel.linear.y, 0)));
00077   robot_vel.stamp_ = ros::Time();
00078 }
00079 
00080 void OdometryHelperRos::setOdomTopic(std::string odom_topic)
00081 {
00082   if( odom_topic != odom_topic_ )
00083   {
00084     odom_topic_ = odom_topic;
00085 
00086     if( odom_topic_ != "" )
00087     {
00088       ros::NodeHandle gn;
00089       odom_sub_ = gn.subscribe<nav_msgs::Odometry>( odom_topic_, 1, boost::bind( &OdometryHelperRos::odomCallback, this, _1 ));
00090     }
00091     else
00092     {
00093       odom_sub_.shutdown();
00094     }
00095   }
00096 }
00097 
00098 } /* namespace base_local_planner */


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:30