imu_sensor_controller.cpp

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// Copyright (C) 2012, hiDOF INC.
// Copyright (C) 2013, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * Neither the name of PAL Robotics S.L. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
 
 
 
#include "imu_sensor_controller/imu_sensor_controller.h"
 
 
 
namespace imu_sensor_controller
{
 
  bool ImuSensorController::init(hardware_interface::ImuSensorInterface* hw, ros::NodeHandle &root_nh, ros::NodeHandle& controller_nh)
  {
    // get all joint states from the hardware interface
    const std::vector<std::string>& sensor_names = hw->getNames();
    for (unsigned i=0; i<sensor_names.size(); i++)
      ROS_DEBUG("Got sensor %s", sensor_names[i].c_str());
 
    // get publishing period
    if (!controller_nh.getParam("publish_rate", publish_rate_)){
      ROS_ERROR("Parameter 'publish_rate' not set");
      return false;
    }
 
    for (unsigned i=0; i<sensor_names.size(); i++){
      // sensor handle
      sensors_.push_back(hw->getHandle(sensor_names[i]));
 
      // realtime publisher
      RtPublisherPtr rt_pub(new realtime_tools::RealtimePublisher<sensor_msgs::Imu>(root_nh, sensor_names[i], 4));
      realtime_pubs_.push_back(rt_pub);
    }
 
    // Last published times
    last_publish_times_.resize(sensor_names.size());
    return true;
  }
 
  void ImuSensorController::starting(const ros::Time& time)
  {
    // initialize time
    for (unsigned i=0; i<last_publish_times_.size(); i++){
      last_publish_times_[i] = time;
    }
  }
 
  void ImuSensorController::update(const ros::Time& time, const ros::Duration& /*period*/)
  {
    using namespace hardware_interface;
 
    // limit rate of publishing
    for (unsigned i=0; i<realtime_pubs_.size(); i++){
      if (publish_rate_ > 0.0 && last_publish_times_[i] + ros::Duration(1.0/publish_rate_) < time){
        // try to publish
        if (realtime_pubs_[i]->trylock()){
          // we're actually publishing, so increment time
          last_publish_times_[i] = last_publish_times_[i] + ros::Duration(1.0/publish_rate_);
 
          // populate message
          realtime_pubs_[i]->msg_.header.stamp = time;
          realtime_pubs_[i]->msg_.header.frame_id = sensors_[i].getFrameId();
 
          // Orientation
          if (sensors_[i].getOrientation())
          {
            realtime_pubs_[i]->msg_.orientation.x = sensors_[i].getOrientation()[0];
            realtime_pubs_[i]->msg_.orientation.y = sensors_[i].getOrientation()[1];
            realtime_pubs_[i]->msg_.orientation.z = sensors_[i].getOrientation()[2];
            realtime_pubs_[i]->msg_.orientation.w = sensors_[i].getOrientation()[3];
          }
 
          // Orientation covariance
          if (sensors_[i].getOrientationCovariance())
          {
            for (unsigned j=0; j<realtime_pubs_[i]->msg_.orientation_covariance.size(); ++j){
              realtime_pubs_[i]->msg_.orientation_covariance[j] = sensors_[i].getOrientationCovariance()[j];
            }
          }
          else
          {
            if (sensors_[i].getOrientation())
            {
              // Orientation available
              for (unsigned j=0; j<realtime_pubs_[i]->msg_.orientation_covariance.size(); ++j){
                realtime_pubs_[i]->msg_.orientation_covariance[j] = 0.0;
              }
            }
            else
            {
              // No orientation available
              realtime_pubs_[i]->msg_.orientation_covariance[0] = -1.0;
            }
          }
 
          // Angular velocity
          if (sensors_[i].getAngularVelocity())
          {
            realtime_pubs_[i]->msg_.angular_velocity.x = sensors_[i].getAngularVelocity()[0];
            realtime_pubs_[i]->msg_.angular_velocity.y = sensors_[i].getAngularVelocity()[1];
            realtime_pubs_[i]->msg_.angular_velocity.z = sensors_[i].getAngularVelocity()[2];
          }
 
          // Angular velocity covariance
          if (sensors_[i].getAngularVelocityCovariance())
          {
            for (unsigned j=0; j<realtime_pubs_[i]->msg_.angular_velocity_covariance.size(); ++j){
              realtime_pubs_[i]->msg_.angular_velocity_covariance[j] = sensors_[i].getAngularVelocityCovariance()[j];
            }
          }
          else
          {
            if (sensors_[i].getAngularVelocity())
            {
              // Angular velocity available
              for (unsigned j=0; j<realtime_pubs_[i]->msg_.angular_velocity_covariance.size(); ++j){
                realtime_pubs_[i]->msg_.angular_velocity_covariance[j] = 0.0;
              }
            }
            else
            {
              // No angular velocity available
              realtime_pubs_[i]->msg_.angular_velocity_covariance[0] = -1.0;
            }
          }
 
          // Linear acceleration
          if (sensors_[i].getLinearAcceleration())
          {
            realtime_pubs_[i]->msg_.linear_acceleration.x = sensors_[i].getLinearAcceleration()[0];
            realtime_pubs_[i]->msg_.linear_acceleration.y = sensors_[i].getLinearAcceleration()[1];
            realtime_pubs_[i]->msg_.linear_acceleration.z = sensors_[i].getLinearAcceleration()[2];
          }
 
          // Linear acceleration covariance
          if (sensors_[i].getLinearAccelerationCovariance())
          {
            for (unsigned j=0; j<realtime_pubs_[i]->msg_.linear_acceleration_covariance.size(); ++j){
              realtime_pubs_[i]->msg_.linear_acceleration_covariance[j] = sensors_[i].getLinearAccelerationCovariance()[j];
            }
          }
          else
          {
            if (sensors_[i].getLinearAcceleration())
            {
              // Linear acceleration available
              for (unsigned j=0; j<realtime_pubs_[i]->msg_.linear_acceleration_covariance.size(); ++j){
                realtime_pubs_[i]->msg_.linear_acceleration_covariance[j] = 0.0;
              }
            }
            else
            {
              // No linear acceleration available
              realtime_pubs_[i]->msg_.linear_acceleration_covariance[0] = -1.0;
            }
          }
          
          realtime_pubs_[i]->unlockAndPublish();
        }
      }
    }
  }
 
  void ImuSensorController::stopping(const ros::Time& /*time*/)
  {}
 
}
 
PLUGINLIB_EXPORT_CLASS(imu_sensor_controller::ImuSensorController, controller_interface::ControllerBase)