#include <navsat_transform.h>

Public Member Functions
	NavSatTransform ()
	Constructor. More...

void	run ()
	Main run loop. More...

	~NavSatTransform ()
	Destructor. More...

Private Member Functions
void	computeTransform ()
	Computes the transform from the UTM frame to the odom frame. More...

bool	datumCallback (robot_localization::SetDatum::Request &request, robot_localization::SetDatum::Response &)
	Callback for the datum service. More...

void	getRobotOriginUtmPose (const tf2::Transform &gps_utm_pose, tf2::Transform &robot_utm_pose, const ros::Time &transform_time)
	Given the pose of the navsat sensor in the UTM frame, removes the offset from the vehicle's centroid and returns the UTM-frame pose of said centroid. More...

void	getRobotOriginWorldPose (const tf2::Transform &gps_odom_pose, tf2::Transform &robot_odom_pose, const ros::Time &transform_time)
	Given the pose of the navsat sensor in the world frame, removes the offset from the vehicle's centroid and returns the world-frame pose of said centroid. More...

void	gpsFixCallback (const sensor_msgs::NavSatFixConstPtr &msg)
	Callback for the GPS fix data. More...

void	imuCallback (const sensor_msgs::ImuConstPtr &msg)
	Callback for the IMU data. More...

void	odomCallback (const nav_msgs::OdometryConstPtr &msg)
	Callback for the odom data. More...

bool	prepareFilteredGps (sensor_msgs::NavSatFix &filtered_gps)
	Converts the odometry data back to GPS and broadcasts it. More...

bool	prepareGpsOdometry (nav_msgs::Odometry &gps_odom)
	Prepares the GPS odometry message before sending. More...

void	setTransformGps (const sensor_msgs::NavSatFixConstPtr &msg)
	Used for setting the GPS data that will be used to compute the transform. More...

void	setTransformOdometry (const nav_msgs::OdometryConstPtr &msg)
	Used for setting the odometry data that will be used to compute the transform. More...

Private Attributes
std::string	base_link_frame_id_
	Frame ID of the robot's body frame. More...

bool	base_link_frame_param_loaded_
	Whether base link frame parameter was loaded. More...

bool	broadcast_utm_transform_
	Whether or not we broadcast the UTM transform. More...

bool	broadcast_utm_transform_as_parent_frame_
	Whether to broadcast the UTM transform as parent frame, default as child. More...

std::string	gps_frame_id_
	The frame_id of the GPS message (specifies mounting location) More...

ros::Time	gps_update_time_
	Timestamp of the latest good GPS message. More...

bool	gps_updated_
	Whether or not we have new GPS data. More...

bool	has_transform_gps_
	Whether or not the GPS fix is usable. More...

bool	has_transform_imu_
	Signifies that we have received a usable IMU message. More...

bool	has_transform_odom_
	Signifies that we have received a usable odometry message. More...

Eigen::MatrixXd	latest_odom_covariance_
	Covariance for most recent odometry data. More...

Eigen::MatrixXd	latest_utm_covariance_
	Covariance for most recent GPS/UTM data. More...

tf2::Transform	latest_utm_pose_
	Latest GPS data, stored as UTM coords. More...

tf2::Transform	latest_world_pose_
	Latest odometry pose data. More...

double	magnetic_declination_
	Parameter that specifies the magnetic declination for the robot's environment. More...

ros::Time	odom_update_time_
	Timestamp of the latest good odometry message. More...

bool	odom_updated_
	Whether or not we have new odometry data. More...

bool	publish_gps_
	Whether or not we publish filtered GPS messages. More...

tf2_ros::Buffer	tf_buffer_
	Transform buffer for managing coordinate transforms. More...

tf2_ros::TransformListener	tf_listener_
	Transform listener for receiving transforms. More...

bool	transform_good_
	Whether or not we've computed a good heading. More...

tf2::Quaternion	transform_orientation_
	Latest IMU orientation. More...

ros::Duration	transform_timeout_
	Parameter that specifies the how long we wait for a transform to become available. More...

tf2::Transform	transform_utm_pose_
	Holds the UTM pose that is used to compute the transform. More...

tf2::Transform	transform_world_pose_
	Latest IMU orientation. More...

bool	use_manual_datum_
	Whether we get our datum from the first GPS message or from the set_datum service/parameter. More...

bool	use_odometry_yaw_
	Whether we get the transform's yaw from the odometry or IMU source. More...

tf2_ros::StaticTransformBroadcaster	utm_broadcaster_
	Used for publishing the static world_frame->utm transform. More...

double	utm_meridian_convergence_
	UTM's meridian convergence. More...

double	utm_odom_tf_yaw_
	Stores the yaw we need to compute the transform. More...

tf2::Transform	utm_world_trans_inverse_
	Holds the odom->UTM transform for filtered GPS broadcast. More...

tf2::Transform	utm_world_transform_
	Holds the UTM->odom transform. More...

std::string	utm_zone_
	UTM zone as determined after transforming GPS message. More...

std::string	world_frame_id_
	Frame ID of the GPS odometry output. More...

bool	world_frame_param_loaded_
	Whether world frame parameter was loaded. More...

double	yaw_offset_
	IMU's yaw offset. More...

bool	zero_altitude_
	Whether or not to report 0 altitude. More...

Detailed Description

Definition at line 56 of file navsat_transform.h.

Constructor & Destructor Documentation

RobotLocalization::NavSatTransform::NavSatTransform ( )

Constructor.

Definition at line 46 of file navsat_transform.cpp.

RobotLocalization::NavSatTransform::~NavSatTransform ( )

Destructor.

Definition at line 75 of file navsat_transform.cpp.

Member Function Documentation

void RobotLocalization::NavSatTransform::computeTransform ( )

private

Computes the transform from the UTM frame to the odom frame.

Definition at line 253 of file navsat_transform.cpp.

bool RobotLocalization::NavSatTransform::datumCallback	(	robot_localization::SetDatum::Request &	request,
		robot_localization::SetDatum::Response &
	)

private

Callback for the datum service.

Definition at line 346 of file navsat_transform.cpp.

void RobotLocalization::NavSatTransform::getRobotOriginUtmPose	(	const tf2::Transform &	gps_utm_pose,
		tf2::Transform &	robot_utm_pose,
		const ros::Time &	transform_time
	)

private

Given the pose of the navsat sensor in the UTM frame, removes the offset from the vehicle's centroid and returns the UTM-frame pose of said centroid.

Definition at line 390 of file navsat_transform.cpp.

void RobotLocalization::NavSatTransform::getRobotOriginWorldPose	(	const tf2::Transform &	gps_odom_pose,
		tf2::Transform &	robot_odom_pose,
		const ros::Time &	transform_time
	)

private

Given the pose of the navsat sensor in the world frame, removes the offset from the vehicle's centroid and returns the world-frame pose of said centroid.

Definition at line 440 of file navsat_transform.cpp.

void RobotLocalization::NavSatTransform::gpsFixCallback ( const sensor_msgs::NavSatFixConstPtr & msg )

private

Callback for the GPS fix data.

Parameters

[in] msg The NavSatFix message to process

Definition at line 486 of file navsat_transform.cpp.

void RobotLocalization::NavSatTransform::imuCallback ( const sensor_msgs::ImuConstPtr & msg )

private

Callback for the IMU data.

Parameters

[in] msg The IMU message to process

Definition at line 532 of file navsat_transform.cpp.

void RobotLocalization::NavSatTransform::odomCallback ( const nav_msgs::OdometryConstPtr & msg )

private

Callback for the odom data.

Parameters

[in] msg The odometry message to process

Definition at line 587 of file navsat_transform.cpp.

bool RobotLocalization::NavSatTransform::prepareFilteredGps ( sensor_msgs::NavSatFix & filtered_gps )

private

Converts the odometry data back to GPS and broadcasts it.

Parameters

[out] filtered_gps The NavSatFix message to prepare

Definition at line 624 of file navsat_transform.cpp.

bool RobotLocalization::NavSatTransform::prepareGpsOdometry ( nav_msgs::Odometry & gps_odom )

private

Prepares the GPS odometry message before sending.

Parameters

[out] gps_odom The odometry message to prepare

Definition at line 683 of file navsat_transform.cpp.

void RobotLocalization::NavSatTransform::run ( )

Main run loop.

Definition at line 79 of file navsat_transform.cpp.

void RobotLocalization::NavSatTransform::setTransformGps ( const sensor_msgs::NavSatFixConstPtr & msg )

private

Used for setting the GPS data that will be used to compute the transform.

Parameters

[in] msg The NavSatFix message to use in the transform

Definition at line 741 of file navsat_transform.cpp.

void RobotLocalization::NavSatTransform::setTransformOdometry ( const nav_msgs::OdometryConstPtr & msg )

private

Used for setting the odometry data that will be used to compute the transform.

Parameters

[in] msg The odometry message to use in the transform

Definition at line 757 of file navsat_transform.cpp.

Member Data Documentation

std::string RobotLocalization::NavSatTransform::base_link_frame_id_

private

Frame ID of the robot's body frame.

This is needed for obtaining transforms from the robot's body frame to the frames of sensors (IMU and GPS)

Definition at line 133 of file navsat_transform.h.

bool RobotLocalization::NavSatTransform::base_link_frame_param_loaded_

private

Whether base link frame parameter was loaded.

Definition at line 297 of file navsat_transform.h.

bool RobotLocalization::NavSatTransform::broadcast_utm_transform_

private

Whether or not we broadcast the UTM transform.

Definition at line 137 of file navsat_transform.h.

bool RobotLocalization::NavSatTransform::broadcast_utm_transform_as_parent_frame_

private

Whether to broadcast the UTM transform as parent frame, default as child.

Definition at line 141 of file navsat_transform.h.

std::string RobotLocalization::NavSatTransform::gps_frame_id_

private

The frame_id of the GPS message (specifies mounting location)

Definition at line 145 of file navsat_transform.h.

ros::Time RobotLocalization::NavSatTransform::gps_update_time_

private

Timestamp of the latest good GPS message.

We assign this value to the timestamp of the odometry message that we output

Definition at line 151 of file navsat_transform.h.

bool RobotLocalization::NavSatTransform::gps_updated_

private

Whether or not we have new GPS data.

We only want to compute and broadcast our transformed GPS data if it's new. This variable keeps track of that.

Definition at line 157 of file navsat_transform.h.

bool RobotLocalization::NavSatTransform::has_transform_gps_

private

Whether or not the GPS fix is usable.

Definition at line 161 of file navsat_transform.h.

bool RobotLocalization::NavSatTransform::has_transform_imu_

private

Signifies that we have received a usable IMU message.

Definition at line 165 of file navsat_transform.h.

bool RobotLocalization::NavSatTransform::has_transform_odom_

private

Signifies that we have received a usable odometry message.

Definition at line 169 of file navsat_transform.h.

Eigen::MatrixXd RobotLocalization::NavSatTransform::latest_odom_covariance_

private

Covariance for most recent odometry data.

Definition at line 173 of file navsat_transform.h.

Eigen::MatrixXd RobotLocalization::NavSatTransform::latest_utm_covariance_

private

Covariance for most recent GPS/UTM data.

Definition at line 177 of file navsat_transform.h.

tf2::Transform RobotLocalization::NavSatTransform::latest_utm_pose_

private

Latest GPS data, stored as UTM coords.

Definition at line 181 of file navsat_transform.h.

tf2::Transform RobotLocalization::NavSatTransform::latest_world_pose_

private

Latest odometry pose data.

Definition at line 185 of file navsat_transform.h.

double RobotLocalization::NavSatTransform::magnetic_declination_

private

Parameter that specifies the magnetic declination for the robot's environment.

Definition at line 189 of file navsat_transform.h.

ros::Time RobotLocalization::NavSatTransform::odom_update_time_

private

Timestamp of the latest good odometry message.

We assign this value to the timestamp of the odometry message that we output

Definition at line 195 of file navsat_transform.h.

bool RobotLocalization::NavSatTransform::odom_updated_

private

Whether or not we have new odometry data.

If we're creating filtered GPS messages, then we only want to broadcast them when new odometry data arrives.

Definition at line 201 of file navsat_transform.h.

bool RobotLocalization::NavSatTransform::publish_gps_

private

Whether or not we publish filtered GPS messages.

Definition at line 205 of file navsat_transform.h.

tf2_ros::Buffer RobotLocalization::NavSatTransform::tf_buffer_

private

Transform buffer for managing coordinate transforms.

Definition at line 209 of file navsat_transform.h.

tf2_ros::TransformListener RobotLocalization::NavSatTransform::tf_listener_

private

Transform listener for receiving transforms.

Definition at line 213 of file navsat_transform.h.

bool RobotLocalization::NavSatTransform::transform_good_

private

Whether or not we've computed a good heading.

Definition at line 217 of file navsat_transform.h.

tf2::Quaternion RobotLocalization::NavSatTransform::transform_orientation_

private

Latest IMU orientation.

Definition at line 221 of file navsat_transform.h.

ros::Duration RobotLocalization::NavSatTransform::transform_timeout_

private

Parameter that specifies the how long we wait for a transform to become available.

Definition at line 283 of file navsat_transform.h.

tf2::Transform RobotLocalization::NavSatTransform::transform_utm_pose_

private

Holds the UTM pose that is used to compute the transform.

Definition at line 225 of file navsat_transform.h.

tf2::Transform RobotLocalization::NavSatTransform::transform_world_pose_

private

Latest IMU orientation.

Definition at line 229 of file navsat_transform.h.

bool RobotLocalization::NavSatTransform::use_manual_datum_

private

Whether we get our datum from the first GPS message or from the set_datum service/parameter.

Definition at line 234 of file navsat_transform.h.

bool RobotLocalization::NavSatTransform::use_odometry_yaw_

private

Whether we get the transform's yaw from the odometry or IMU source.

Definition at line 238 of file navsat_transform.h.

tf2_ros::StaticTransformBroadcaster RobotLocalization::NavSatTransform::utm_broadcaster_

private

Used for publishing the static world_frame->utm transform.

Definition at line 242 of file navsat_transform.h.

double RobotLocalization::NavSatTransform::utm_meridian_convergence_

private

UTM's meridian convergence.

Angle between projected meridian (True North) and UTM's grid Y-axis. For UTM projection (Ellipsoidal Transverse Mercator) it is zero on the equator and non-zero everywhere else. It increases as the poles are approached or as we're getting farther from central meridian.

Definition at line 279 of file navsat_transform.h.

double RobotLocalization::NavSatTransform::utm_odom_tf_yaw_

private

Stores the yaw we need to compute the transform.

Definition at line 246 of file navsat_transform.h.

tf2::Transform RobotLocalization::NavSatTransform::utm_world_trans_inverse_

private

Holds the odom->UTM transform for filtered GPS broadcast.

Definition at line 254 of file navsat_transform.h.

tf2::Transform RobotLocalization::NavSatTransform::utm_world_transform_

private

Holds the UTM->odom transform.

Definition at line 250 of file navsat_transform.h.

std::string RobotLocalization::NavSatTransform::utm_zone_

private

UTM zone as determined after transforming GPS message.

Definition at line 258 of file navsat_transform.h.

std::string RobotLocalization::NavSatTransform::world_frame_id_

private

Frame ID of the GPS odometry output.

This will just match whatever your odometry message has

Definition at line 264 of file navsat_transform.h.

bool RobotLocalization::NavSatTransform::world_frame_param_loaded_

private

Whether world frame parameter was loaded.

Definition at line 293 of file navsat_transform.h.

double RobotLocalization::NavSatTransform::yaw_offset_

private

IMU's yaw offset.

Your IMU should read 0 when facing magnetic north. If it doesn't, this (parameterized) value gives the offset (NOTE: if you have a magenetic declination, use the parameter setting for that).

Definition at line 271 of file navsat_transform.h.

bool RobotLocalization::NavSatTransform::zero_altitude_

private

Whether or not to report 0 altitude.

If this parameter is true, we always report 0 for the altitude of the converted GPS odometry message.

Definition at line 289 of file navsat_transform.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation