bma180_node.cpp

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//\Author Joshua Vasquez and Philip Roan, Robert Bosch LLC

#include <cmath> // for M_PI

// ROS headers
#include <ros/ros.h>
#include <ros/time.h>

#include <bma180.hpp>
#include <sub20_interface.hpp> 

// ROS message
#include <bma180_driver/bma180_measurement.h>

int main( int argc, char **argv )
{
  //ROS initialization and publisher/subscriber setup
  ros::init(argc, argv, "BMA180_node");
  ros::NodeHandle nh;

  // User configurable parameters

  std::string hw_id;
  int number_of_bma180_sensors;
  int publish_rate_Hz;

  // Get parameters from .launch file or parameter server, or take defaults
  nh.param<int>( "/bma180_node/number_of_bma180_sensors", number_of_bma180_sensors, 1 );
  nh.param<int>( "/bma180_node/publish_rate_Hz", publish_rate_Hz, 100 );
  nh.param<std::string>( "/bma180_node/hardware_id", hw_id, "0208" );


  Sub20Interface sub20( hw_id );   
  std::vector<BMA180*> bma180_chain;

  // Initialize the BMA180s
  for( int i = 0; i < number_of_bma180_sensors; i++ )
  {
    // instantiate a sensor and pass in a pointer to its hardware interface
    BMA180* Accelerometer = new BMA180( &sub20 ); 

    // Adjust sensor settings:
    Accelerometer->setAccelRange( BMA180Parameters::RANGE_8 );
    Accelerometer->setBandwidth( BMA180Parameters::BW_150 );

    // SPI configuration
    Accelerometer->setProtocol( SPI );
    Accelerometer->setFrequency( 125000 );
    Accelerometer->setPin( i );

    // I2C configuration
    //Accelerometer->setProtocol(I2C); // CSB connected to VDD
    //Accelerometer->setFrequency( 400000 );
    //Accelerometer->setSlaveAddressBit( 0 );

    if( Accelerometer->initialize() == false )
    {
      ROS_ERROR( "BMA180 device: %d initialization failed.", i );
      //return 0;
    }

     // Add the sensor to the sensor chain
    bma180_chain.push_back( Accelerometer );
  }
  
  // Set up ROS message and publisher
  bma180_driver::bma180_measurement msg;
  ros::Publisher bma180_pub = nh.advertise<bma180_driver::bma180_measurement>( "BMA180_data", 20 );

  //set loop rate for measurement polling
  ros::Rate loop_rate_Hz( publish_rate_Hz ); 
    
  double pitch, roll;
  
  // Run sensor node
  while( nh.ok() )
  {
    // Data goes in a standard vector
    for( int j = 0; j < number_of_bma180_sensors; j++ )
    {
      // Read measurements from sensors
      if( bma180_chain[j]->takeMeasurement() == false )
      {
        ROS_ERROR( "BMA180 device %d failed to acquire measurements.", j );
        //return 0;
      }

      roll = bma180_chain[j]->getStaticRoll() * (180.0/M_PI);   
      pitch = bma180_chain[j]->getStaticPitch() * (180.0/M_PI);
  
      msg.AccelerationX.push_back( bma180_chain[j]->AccelX_ );
      msg.AccelerationY.push_back( bma180_chain[j]->AccelY_ );
      msg.AccelerationZ.push_back( bma180_chain[j]->AccelZ_ );
   
      msg.Temperature.push_back( bma180_chain[j]->Temperature_ );
   
      msg.staticRoll.push_back( roll );
      msg.staticPitch.push_back( pitch );
    }
  
    // publish message
    msg.header.stamp = ros::Time::now();
    bma180_pub.publish( msg ); 

    // clear vectors so data doesn't accumulate
    msg.AccelerationX.clear();
    msg.AccelerationY.clear();
    msg.AccelerationZ.clear();
    msg.Temperature.clear();
    msg.staticRoll.clear();
    msg.staticPitch.clear();
    
    ros::spinOnce();
    loop_rate_Hz.sleep();
  }

  ROS_WARN( "Closing BMA180 driver." );
  return 0;
}