ekf_interface.cpp
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00001 /*
00002 
00003 Copyright (c) 2011, Markus Achtelik, ASL, ETH Zurich, Switzerland
00004 You can contact the author at <markus dot achtelik at mavt dot ethz dot ch>
00005 
00006 All rights reserved.
00007 
00008 Redistribution and use in source and binary forms, with or without
00009 modification, are permitted provided that the following conditions are met:
00010 * Redistributions of source code must retain the above copyright
00011 notice, this list of conditions and the following disclaimer.
00012 * Redistributions in binary form must reproduce the above copyright
00013 notice, this list of conditions and the following disclaimer in the
00014 documentation and/or other materials provided with the distribution.
00015 * Neither the name of ETHZ-ASL nor the
00016 names of its contributors may be used to endorse or promote products
00017 derived from this software without specific prior written permission.
00018 
00019 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00020 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00021 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00022 DISCLAIMED. IN NO EVENT SHALL ETHZ-ASL BE LIABLE FOR ANY
00023 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00024 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00025 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00026 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00027 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00028 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00029 
00030 */
00031 
00032 #include "ekf_interface.h"
00033 #include <tf/tf.h>
00034 #include "helper.h"
00035 
00036 EKFInterface::EKFInterface(ros::NodeHandle & nh, CommPtr & comm) :
00037   nh_(nh), pnh_("~"), comm_(comm)
00038 {
00039   state_pub_ = nh.advertise<sensor_fusion_comm::ExtEkf> ("ekf_state_out", 1);
00040   state_sub_ = nh.subscribe("ekf_state_in", 1, &EKFInterface::stateCallback, this);
00041 
00042   comm_->registerCallback(HLI_PACKET_ID_EKF_STATE, &EKFInterface::processEkfData, this);
00043 }
00044 
00045 void EKFInterface::processEkfData(uint8_t * buf, uint32_t bufLength)
00046 {
00047   static uint32_t seq = 0;
00048   if (state_pub_.getNumSubscribers() > 0)
00049   {
00050     HLI_EKF_STATE * state = (HLI_EKF_STATE*)buf;
00051     sensor_fusion_comm::ExtEkfPtr msg(new sensor_fusion_comm::ExtEkf);
00052 
00053     msg->header.stamp = ros::Time(state->timestamp * 1.0e-6);
00054     msg->header.seq = seq;
00055 
00056     msg->linear_acceleration.x = helper::asctecAccToSI(state->acc_x);
00057     msg->linear_acceleration.y = helper::asctecAccToSI(state->acc_y);
00058     msg->linear_acceleration.z = helper::asctecAccToSI(state->acc_z);
00059 
00060     msg->angular_velocity.x = helper::asctecOmegaToSI(state->ang_vel_roll);
00061     msg->angular_velocity.y = helper::asctecOmegaToSI(state->ang_vel_pitch);
00062     msg->angular_velocity.z = helper::asctecOmegaToSI(state->ang_vel_yaw);
00063 
00064     msg->flag = sensor_fusion_comm::ExtEkf::current_state;
00065 
00066     msg->state.resize(HLI_EKF_STATE_SIZE);
00067 
00068     for (uint32_t i = 0; i < HLI_EKF_STATE_SIZE; i++)
00069     {
00070       msg->state[i] = state->state[i];
00071     }
00072 
00073     state_pub_.publish(msg);
00074   }
00075 
00076   seq++;
00077 }
00078 
00079 void EKFInterface::stateCallback(const sensor_fusion_comm::ExtEkfConstPtr & msg)
00080 {
00081   ekf_state_msg_.timestamp = static_cast<uint64_t> (msg->header.stamp.toSec() * 1.0e6);
00082 
00083   switch (msg->flag)
00084   {
00085     case sensor_fusion_comm::ExtEkf::current_state:
00086       ekf_state_msg_.flag = HLI_EKF_STATE_CURRENT_STATE;
00087       break;
00088     case sensor_fusion_comm::ExtEkf::initialization:
00089       ekf_state_msg_.flag = HLI_EKF_STATE_INITIALIZATION;
00090       break;
00091     case sensor_fusion_comm::ExtEkf::state_correction:
00092       ekf_state_msg_.flag = HLI_EKF_STATE_STATE_CORRECTION;
00093       break;
00094     default:
00095       ekf_state_msg_.flag = HLI_EKF_STATE_INITIALIZATION;
00096   }
00097 
00098   if (msg->state.size() != HLI_EKF_STATE_SIZE)
00099   {
00100     ROS_WARN_STREAM("size of incoming state ("<< msg->state.size() <<") != size of state in the HL processor ("<< HLI_EKF_STATE_SIZE <<"), not sending!");
00101     return;
00102   }
00103 
00104   // we don't need acc and omega on the HL, so skip this here
00105 
00106   for (unsigned int i = 0; i < HLI_EKF_STATE_SIZE; i++)
00107   {
00108     ekf_state_msg_.state[i] = msg->state[i];
00109   }
00110 
00111   comm_->sendPacket(HLI_PACKET_ID_EKF_STATE, ekf_state_msg_);
00112 }
00113 


asctec_hl_interface
Author(s): Markus Achtelik, Michael Achtelik, Stephan Weiss, Laurent Kneip
autogenerated on Tue Jan 7 2014 11:05:25