viz.cpp

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#include <rosflight_utils/viz.h>

namespace rosflight_utils
{
Viz::Viz() : nh_private_("~")
{
  // retrieve params

  // initialize variables
  mag_sum_ = 0;
  mag_skip_ = 20;
  mag_count_ = 0;
  mag_throttle_ = 0;

  // Magnetometer visualization
  mag_sub_ = nh_.subscribe("/magnetometer", 1, &Viz::magCallback, this);
  mag_pub_ = nh_.advertise<geometry_msgs::PoseStamped>("viz/magnetometer", 1);
  pts_pub_ = nh_.advertise<visualization_msgs::Marker>("viz/cloud", 1);

  // Attitude visualization
  att_sub_ = nh_.subscribe("/attitude", 1, &Viz::attCallback, this);
  pose_pub_ = nh_.advertise<geometry_msgs::PoseStamped>("viz/attitude", 1);
}

void Viz::magCallback(const sensor_msgs::MagneticFieldConstPtr &msg)
{
  if (mag_throttle_ > mag_skip_)
  {
    // unpack message
    double x = msg->magnetic_field.x;
    double y = msg->magnetic_field.y;
    double z = msg->magnetic_field.z;

    // get euler angles from vector (assume no roll)
    double yaw = atan2(y, x);
    double pitch = atan2(-z, sqrt(x * x + y * y));

    // convert to body quaternion and rotation into the vehicle frame
    tf::Quaternion q_v = tf::createQuaternionFromRPY(0, pitch, yaw);

    // pack data into pose message
    geometry_msgs::PoseStamped pose_msg;
    pose_msg.header = msg->header;
    pose_msg.header.frame_id = fixed_frame_;
    pose_msg.pose.position.x = 0;
    pose_msg.pose.position.y = 0;
    pose_msg.pose.position.z = 0;
    tf::quaternionTFToMsg(q_v, pose_msg.pose.orientation);

    // Publish the messages
    mag_pub_.publish(pose_msg);

    // MEASUREMENT CLOUD //

    // store the current measurement
    geometry_msgs::Point p;
    p.x = x;
    p.y = y;
    p.z = z;
    pts_list_.push_back(p);

    // begin packing marker message
    visualization_msgs::Marker pts_msg;
    pts_msg.header.frame_id = fixed_frame_;
    pts_msg.header.stamp = msg->header.stamp;
    pts_msg.type = visualization_msgs::Marker::POINTS;
    pts_msg.action = visualization_msgs::Marker::ADD;

    // set points style
    pts_msg.scale.x = 0.1;
    pts_msg.scale.y = pts_msg.scale.x;
    pts_msg.scale.z = pts_msg.scale.x;
    pts_msg.color.a = 1.0;
    pts_msg.color.r = 0.0;
    pts_msg.color.g = 1.0;
    pts_msg.color.b = 0.0;

    for (uint32_t i = 0; i < pts_list_.size(); ++i)
    {
      pts_msg.points.push_back(pts_list_[i]);
    }

    // publish point cloud
    pts_pub_.publish(pts_msg);
  }
  mag_throttle_++;
}

void Viz::attCallback(const rosflight_msgs::AttitudeConstPtr &msg)
{
  geometry_msgs::PoseStamped pose;
  pose.header = msg->header;
  pose.header.frame_id = fixed_frame_;
  pose.pose.orientation = msg->attitude;

  pose_pub_.publish(pose);
}

} // namespace rosflight_utils

int main(int argc, char **argv)
{
  ros::init(argc, argv, "viz_node");
  rosflight_utils::Viz viz;
  ros::spin();
  return 0;
}