imu.cpp

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/*
 * Copyright 2013-2017 Vladimir Ermakov.
 *
 * This file is part of the mavros package and subject to the license terms
 * in the top-level LICENSE file of the mavros repository.
 * https://github.com/mavlink/mavros/tree/master/LICENSE.md
 */

#include <cmath>
#include <mavros/mavros_plugin.h>
#include <eigen_conversions/eigen_msg.h>

#include <sensor_msgs/Imu.h>
#include <sensor_msgs/MagneticField.h>
#include <sensor_msgs/Temperature.h>
#include <sensor_msgs/FluidPressure.h>
#include <geometry_msgs/Vector3.h>

namespace mavros {
namespace std_plugins {
static constexpr double GAUSS_TO_TESLA = 1.0e-4;
static constexpr double MILLIT_TO_TESLA = 1000.0;
static constexpr double MILLIRS_TO_RADSEC = 1.0e-3;
static constexpr double MILLIG_TO_MS2 = 9.80665 / 1000.0;
static constexpr double MILLIMS2_TO_MS2 = 1.0e-3;
static constexpr double MILLIBAR_TO_PASCAL = 1.0e2;
static constexpr double RAD_TO_DEG = 180.0 / M_PI;


class IMUPlugin : public plugin::PluginBase {
public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW

        IMUPlugin() : PluginBase(),
                imu_nh("~imu"),
                has_hr_imu(false),
                has_raw_imu(false),
                has_scaled_imu(false),
                has_att_quat(false),
                received_linear_accel(false),
                linear_accel_vec_flu(Eigen::Vector3d::Zero()),
                linear_accel_vec_frd(Eigen::Vector3d::Zero())
        { }

        void initialize(UAS &uas_) override
        {
                PluginBase::initialize(uas_);

                double linear_stdev, angular_stdev, orientation_stdev, mag_stdev;

                imu_nh.param<std::string>("frame_id", frame_id, "base_link");
                imu_nh.param("linear_acceleration_stdev", linear_stdev, 0.0003);                // check default by MPU6000 spec
                imu_nh.param("angular_velocity_stdev", angular_stdev, 0.02 * (M_PI / 180.0));   // check default by MPU6000 spec
                imu_nh.param("orientation_stdev", orientation_stdev, 1.0);
                imu_nh.param("magnetic_stdev", mag_stdev, 0.0);

                setup_covariance(linear_acceleration_cov, linear_stdev);
                setup_covariance(angular_velocity_cov, angular_stdev);
                setup_covariance(orientation_cov, orientation_stdev);
                setup_covariance(magnetic_cov, mag_stdev);
                setup_covariance(unk_orientation_cov, 0.0);

                imu_pub = imu_nh.advertise<sensor_msgs::Imu>("data", 10);
                magn_pub = imu_nh.advertise<sensor_msgs::MagneticField>("mag", 10);
                temp_imu_pub = imu_nh.advertise<sensor_msgs::Temperature>("temperature_imu", 10);
                temp_baro_pub = imu_nh.advertise<sensor_msgs::Temperature>("temperature_baro", 10);
                static_press_pub = imu_nh.advertise<sensor_msgs::FluidPressure>("static_pressure", 10);
                diff_press_pub = imu_nh.advertise<sensor_msgs::FluidPressure>("diff_pressure", 10);
                imu_raw_pub = imu_nh.advertise<sensor_msgs::Imu>("data_raw", 10);

                // Reset has_* flags on connection change
                enable_connection_cb();
        }

        Subscriptions get_subscriptions() override {
                return {
                               make_handler(&IMUPlugin::handle_attitude),
                               make_handler(&IMUPlugin::handle_attitude_quaternion),
                               make_handler(&IMUPlugin::handle_highres_imu),
                               make_handler(&IMUPlugin::handle_raw_imu),
                               make_handler(&IMUPlugin::handle_scaled_imu),
                               make_handler(&IMUPlugin::handle_scaled_pressure),
                };
        }

private:
        ros::NodeHandle imu_nh;
        std::string frame_id;

        ros::Publisher imu_pub;
        ros::Publisher imu_raw_pub;
        ros::Publisher magn_pub;
        ros::Publisher temp_imu_pub;
        ros::Publisher temp_baro_pub;
        ros::Publisher static_press_pub;
        ros::Publisher diff_press_pub;

        bool has_hr_imu;
        bool has_raw_imu;
        bool has_scaled_imu;
        bool has_att_quat;
        bool received_linear_accel;
        Eigen::Vector3d linear_accel_vec_flu;
        Eigen::Vector3d linear_accel_vec_frd;
        ftf::Covariance3d linear_acceleration_cov;
        ftf::Covariance3d angular_velocity_cov;
        ftf::Covariance3d orientation_cov;
        ftf::Covariance3d unk_orientation_cov;
        ftf::Covariance3d magnetic_cov;

        /* -*- helpers -*- */

        void setup_covariance(ftf::Covariance3d &cov, double stdev)
        {
                ftf::EigenMapCovariance3d c(cov.data());

                c.setZero();
                if (stdev) {
                        double sr = stdev * stdev;
                        c.diagonal() << sr, sr, sr;
                }
                else {
                        c(0,0) = -1.0;
                }
        }

        void publish_imu_data(uint32_t time_boot_ms, Eigen::Quaterniond &orientation_enu,
                                Eigen::Quaterniond &orientation_ned, Eigen::Vector3d &gyro_flu, Eigen::Vector3d &gyro_frd)
        {
                auto imu_ned_msg = boost::make_shared<sensor_msgs::Imu>();
                auto imu_enu_msg = boost::make_shared<sensor_msgs::Imu>();

                // Fill message header
                imu_enu_msg->header = m_uas->synchronized_header(frame_id, time_boot_ms);
                imu_ned_msg->header = m_uas->synchronized_header("aircraft", time_boot_ms);

                // Convert from Eigen::Quaternond to geometry_msgs::Quaternion
                tf::quaternionEigenToMsg(orientation_enu, imu_enu_msg->orientation);
                tf::quaternionEigenToMsg(orientation_ned, imu_ned_msg->orientation);

                // Convert from Eigen::Vector3d to geometry_msgs::Vector3
                tf::vectorEigenToMsg(gyro_flu, imu_enu_msg->angular_velocity);
                tf::vectorEigenToMsg(gyro_frd, imu_ned_msg->angular_velocity);

                // Eigen::Vector3d from HIGHRES_IMU or RAW_IMU, to geometry_msgs::Vector3
                tf::vectorEigenToMsg(linear_accel_vec_flu, imu_enu_msg->linear_acceleration);
                tf::vectorEigenToMsg(linear_accel_vec_frd, imu_ned_msg->linear_acceleration);

                // Pass ENU msg covariances
                imu_enu_msg->orientation_covariance = orientation_cov;
                imu_enu_msg->angular_velocity_covariance = angular_velocity_cov;
                imu_enu_msg->linear_acceleration_covariance = linear_acceleration_cov;

                // Pass NED msg covariances
                imu_ned_msg->orientation_covariance = orientation_cov;
                imu_ned_msg->angular_velocity_covariance = angular_velocity_cov;
                imu_ned_msg->linear_acceleration_covariance = linear_acceleration_cov;

                if (!received_linear_accel) {
                        // Set element 0 of covariance matrix to -1 if no data received as per sensor_msgs/Imu defintion
                        imu_enu_msg->linear_acceleration_covariance[0] = -1;
                        imu_ned_msg->linear_acceleration_covariance[0] = -1;
                }

                // [store_enu]
                m_uas->update_attitude_imu_enu(imu_enu_msg);
                // [store_enu]

                // [store_enu]
                m_uas->update_attitude_imu_ned(imu_ned_msg);
                // [store_ned]

                // [pub_enu]
                imu_pub.publish(imu_enu_msg);
                // [pub_enu]
        }

        void publish_imu_data_raw(std_msgs::Header &header, Eigen::Vector3d &gyro_flu,
                                Eigen::Vector3d &accel_flu, Eigen::Vector3d &accel_frd)
        {
                auto imu_msg = boost::make_shared<sensor_msgs::Imu>();

                // Fill message header
                imu_msg->header = header;

                tf::vectorEigenToMsg(gyro_flu, imu_msg->angular_velocity);
                tf::vectorEigenToMsg(accel_flu, imu_msg->linear_acceleration);

                // Save readings
                linear_accel_vec_flu = accel_flu;
                linear_accel_vec_frd = accel_frd;
                received_linear_accel = true;

                imu_msg->orientation_covariance = unk_orientation_cov;
                imu_msg->angular_velocity_covariance = angular_velocity_cov;
                imu_msg->linear_acceleration_covariance = linear_acceleration_cov;

                // Publish message [ENU frame]
                imu_raw_pub.publish(imu_msg);
        }

        void publish_mag(std_msgs::Header &header, Eigen::Vector3d &mag_field)
        {
                auto magn_msg = boost::make_shared<sensor_msgs::MagneticField>();

                // Fill message header
                magn_msg->header = header;

                tf::vectorEigenToMsg(mag_field, magn_msg->magnetic_field);
                magn_msg->magnetic_field_covariance = magnetic_cov;

                // Publish message [ENU frame]
                magn_pub.publish(magn_msg);
        }

        /* -*- message handlers -*- */

        void handle_attitude(const mavlink::mavlink_message_t *msg, mavlink::common::msg::ATTITUDE &att)
        {
                if (has_att_quat)
                        return;

                // [ned_aircraft_orient1]
                auto ned_aircraft_orientation = ftf::quaternion_from_rpy(att.roll, att.pitch, att.yaw);
                // [ned_aircraft_orient1]

                // [frd_ang_vel1]
                auto gyro_frd = Eigen::Vector3d(att.rollspeed, att.pitchspeed, att.yawspeed);
                // [frd_ang_vel1]

                // [ned->baselink->enu]
                auto enu_baselink_orientation = ftf::transform_orientation_aircraft_baselink(
                                        ftf::transform_orientation_ned_enu(ned_aircraft_orientation));
                // [ned->baselink->enu]

                // [rotate_gyro]
                auto gyro_flu = ftf::transform_frame_aircraft_baselink(gyro_frd);
                // [rotate_gyro]

                publish_imu_data(att.time_boot_ms, enu_baselink_orientation, ned_aircraft_orientation, gyro_flu, gyro_frd);
        }

        void handle_attitude_quaternion(const mavlink::mavlink_message_t *msg, mavlink::common::msg::ATTITUDE_QUATERNION &att_q)
        {
                ROS_INFO_COND_NAMED(!has_att_quat, "imu", "IMU: Attitude quaternion IMU detected!");
                has_att_quat = true;

                // [ned_aircraft_orient2]
                auto ned_aircraft_orientation = Eigen::Quaterniond(att_q.q1, att_q.q2, att_q.q3, att_q.q4);
                // [ned_aircraft_orient2]

                // [frd_ang_vel2]
                auto gyro_frd = Eigen::Vector3d(att_q.rollspeed, att_q.pitchspeed, att_q.yawspeed);
                // [frd_ang_vel2]

                auto enu_baselink_orientation = ftf::transform_orientation_aircraft_baselink(
                                        ftf::transform_orientation_ned_enu(ned_aircraft_orientation));

                auto gyro_flu = ftf::transform_frame_aircraft_baselink(gyro_frd);

                publish_imu_data(att_q.time_boot_ms, enu_baselink_orientation, ned_aircraft_orientation, gyro_flu, gyro_frd);
        }

        void handle_highres_imu(const mavlink::mavlink_message_t *msg, mavlink::common::msg::HIGHRES_IMU &imu_hr)
        {
                ROS_INFO_COND_NAMED(!has_hr_imu, "imu", "IMU: High resolution IMU detected!");
                has_hr_imu = true;

                auto header = m_uas->synchronized_header(frame_id, imu_hr.time_usec);
                // [accel_available]
                if (imu_hr.fields_updated & ((7 << 3) | (7 << 0))) {
                        auto gyro_flu = ftf::transform_frame_aircraft_baselink(Eigen::Vector3d(imu_hr.xgyro, imu_hr.ygyro, imu_hr.zgyro));

                        auto accel_frd = Eigen::Vector3d(imu_hr.xacc, imu_hr.yacc, imu_hr.zacc);
                        auto accel_flu = ftf::transform_frame_aircraft_baselink(accel_frd);

                        publish_imu_data_raw(header, gyro_flu, accel_flu, accel_frd);
                }
                // [accel_available]

                // [mag_available]
                if (imu_hr.fields_updated & (7 << 6)) {
                        auto mag_field = ftf::transform_frame_aircraft_baselink<Eigen::Vector3d>(
                                                Eigen::Vector3d(imu_hr.xmag, imu_hr.ymag, imu_hr.zmag) * GAUSS_TO_TESLA);

                        publish_mag(header, mag_field);
                }
                // [mag_available]

                // [static_pressure_available]
                if (imu_hr.fields_updated & (1 << 9)) {
                        auto static_pressure_msg = boost::make_shared<sensor_msgs::FluidPressure>();

                        static_pressure_msg->header = header;
                        static_pressure_msg->fluid_pressure = imu_hr.abs_pressure;

                        static_press_pub.publish(static_pressure_msg);
                }
                // [static_pressure_available]

                // [differential_pressure_available]
                if (imu_hr.fields_updated & (1 << 10)) {
                        auto differential_pressure_msg = boost::make_shared<sensor_msgs::FluidPressure>();

                        differential_pressure_msg->header = header;
                        differential_pressure_msg->fluid_pressure = imu_hr.diff_pressure;

                        diff_press_pub.publish(differential_pressure_msg);
                }
                // [differential_pressure_available]

                // [temperature_available]
                if (imu_hr.fields_updated & (1 << 12)) {
                        auto temp_msg = boost::make_shared<sensor_msgs::Temperature>();

                        temp_msg->header = header;
                        temp_msg->temperature = imu_hr.temperature;

                        temp_imu_pub.publish(temp_msg);
                }
                // [temperature_available]
        }

        void handle_raw_imu(const mavlink::mavlink_message_t *msg, mavlink::common::msg::RAW_IMU &imu_raw)
        {
                ROS_INFO_COND_NAMED(!has_raw_imu, "imu", "IMU: Raw IMU message used.");
                has_raw_imu = true;

                if (has_hr_imu || has_scaled_imu)
                        return;

                auto imu_msg = boost::make_shared<sensor_msgs::Imu>();
                auto header = m_uas->synchronized_header(frame_id, imu_raw.time_usec);

                auto gyro_flu = ftf::transform_frame_aircraft_baselink<Eigen::Vector3d>(
                                        Eigen::Vector3d(imu_raw.xgyro, imu_raw.ygyro, imu_raw.zgyro) * MILLIRS_TO_RADSEC);
                auto accel_frd = Eigen::Vector3d(imu_raw.xacc, imu_raw.yacc, imu_raw.zacc);
                auto accel_flu = ftf::transform_frame_aircraft_baselink<Eigen::Vector3d>(accel_frd);

                if (m_uas->is_ardupilotmega()) {
                        accel_frd *= MILLIG_TO_MS2;
                        accel_flu *= MILLIG_TO_MS2;
                } else if (m_uas->is_px4()) {
                        accel_frd *= MILLIMS2_TO_MS2;
                        accel_flu *= MILLIMS2_TO_MS2;
                }

                publish_imu_data_raw(header, gyro_flu, accel_flu, accel_frd);

                if (!m_uas->is_ardupilotmega()) {
                        ROS_WARN_THROTTLE_NAMED(60, "imu", "IMU: linear acceleration on RAW_IMU known on APM only.");
                        ROS_WARN_THROTTLE_NAMED(60, "imu", "IMU: ~imu/data_raw stores unscaled raw acceleration report.");
                        linear_accel_vec_flu.setZero();
                        linear_accel_vec_frd.setZero();
                }

                // [mag_field]
                auto mag_field = ftf::transform_frame_aircraft_baselink<Eigen::Vector3d>(
                                        Eigen::Vector3d(imu_raw.xmag, imu_raw.ymag, imu_raw.zmag) * MILLIT_TO_TESLA);
                // [mag_field]

                publish_mag(header, mag_field);
        }

        void handle_scaled_imu(const mavlink::mavlink_message_t *msg, mavlink::common::msg::SCALED_IMU &imu_raw)
        {
                if (has_hr_imu)
                        return;

                ROS_INFO_COND_NAMED(!has_scaled_imu, "imu", "IMU: Scaled IMU message used.");
                has_scaled_imu = true;

                auto imu_msg = boost::make_shared<sensor_msgs::Imu>();
                auto header = m_uas->synchronized_header(frame_id, imu_raw.time_boot_ms);

                auto gyro_flu = ftf::transform_frame_aircraft_baselink<Eigen::Vector3d>(
                                        Eigen::Vector3d(imu_raw.xgyro, imu_raw.ygyro, imu_raw.zgyro) * MILLIRS_TO_RADSEC);
                auto accel_frd = Eigen::Vector3d(Eigen::Vector3d(imu_raw.xacc, imu_raw.yacc, imu_raw.zacc) * MILLIG_TO_MS2);
                auto accel_flu = ftf::transform_frame_aircraft_baselink<Eigen::Vector3d>(accel_frd);

                publish_imu_data_raw(header, gyro_flu, accel_flu, accel_frd);

                auto mag_field = ftf::transform_frame_aircraft_baselink<Eigen::Vector3d>(
                                        Eigen::Vector3d(imu_raw.xmag, imu_raw.ymag, imu_raw.zmag) * MILLIT_TO_TESLA);

                publish_mag(header, mag_field);
        }

        void handle_scaled_pressure(const mavlink::mavlink_message_t *msg, mavlink::common::msg::SCALED_PRESSURE &press)
        {
                if (has_hr_imu)
                        return;

                auto header = m_uas->synchronized_header(frame_id, press.time_boot_ms);

                auto temp_msg = boost::make_shared<sensor_msgs::Temperature>();
                temp_msg->header = header;
                temp_msg->temperature = press.temperature / 100.0;
                temp_baro_pub.publish(temp_msg);

                auto static_pressure_msg = boost::make_shared<sensor_msgs::FluidPressure>();
                static_pressure_msg->header = header;
                static_pressure_msg->fluid_pressure = press.press_abs * 100.0;
                static_press_pub.publish(static_pressure_msg);

                auto differential_pressure_msg = boost::make_shared<sensor_msgs::FluidPressure>();
                differential_pressure_msg->header = header;
                differential_pressure_msg->fluid_pressure = press.press_diff * 100.0;
                diff_press_pub.publish(differential_pressure_msg);
        }

        // Checks for connection and overrides variable values
        void connection_cb(bool connected) override
        {
                has_hr_imu = false;
                has_scaled_imu = false;
                has_att_quat = false;
        }
};
}       // namespace std_plugins
}       // namespace mavros

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(mavros::std_plugins::IMUPlugin, mavros::plugin::PluginBase)