ltp_node.cpp

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 *  Author: Dula Nad
 *  Created: 01.02.2013.
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#include <labust/tools/conversions.hpp>
#include <labust/tools/GeoUtilities.hpp>

#include <sensor_msgs/NavSatFix.h>
#include <tf2_ros/static_transform_broadcaster.h>
#include <geometry_msgs/TransformStamped.h>
#include <ros/ros.h>

#include <boost/thread.hpp>

struct LTPNode
{
        enum {NEEDED_FIXES=30};

        LTPNode():
                origin_lat(0),
                origin_lon(0),
                fix_valid(false),
                fix_count(0)
        {
                ros::NodeHandle nh,ph("~");
                nh.param("environment/origin_lat", origin_lat, origin_lat);
                ph.param("origin_lat", origin_lat, origin_lat);
                nh.param("environment/origin_lon", origin_lon, origin_lon);
                ph.param("origin_lon", origin_lon, origin_lon);
                ph.param("use_local_fix",fix_valid, fix_valid);
                ph.param("use_local_fix",fix_valid, fix_valid);

                gps_raw = nh.subscribe<sensor_msgs::NavSatFix>("gps",1,&LTPNode::onGps, this);

                if (fix_valid) this->setupFrame();

                //runner = boost::thread(boost::bind(&LTPNode::publishFrame, this));
        }

        ~LTPNode()
        {
                runner.join();
        }

        void onGps(const sensor_msgs::NavSatFix::ConstPtr& fix)
        {
                if (!fix_valid)
                {
                        if (++fix_count > NEEDED_FIXES)
                        {
                                origin_lat = fix->latitude;
                                origin_lon = fix->longitude;
                                fix_valid = true;
                                fix_count = 0;
                                this->setupFrame();
                        }
                }
        };

        void setupFrame()
        {
                Eigen::Vector3d geo;
                geo<<origin_lon, origin_lat, 0;
                Eigen::Vector3d ecef = labust::tools::geodetic2ecef(geo);
                Eigen::Matrix3d nedrot = labust::tools::nedrot(geo);
                Eigen::Quaternion<double> q(nedrot.transpose());

                geometry_msgs::TransformStamped transform;
                transform.transform.translation.x = ecef(0);
                transform.transform.translation.y = ecef(1);
                transform.transform.translation.z = ecef(2);
                transform.transform.rotation.x = q.x();
                transform.transform.rotation.y = q.y();
                transform.transform.rotation.z = q.z();
                transform.transform.rotation.w = q.w();
                transform.child_frame_id = "local";
                transform.header.frame_id = "ecef";
                transform.header.stamp = ros::Time::now();
                broadcaster.sendTransform(transform);
        }

private:
        ros::Subscriber gps_raw;
        tf2_ros::StaticTransformBroadcaster broadcaster;
        double origin_lat;
        double origin_lon;
        bool fix_valid;
        int fix_count;
        boost::thread runner;
};

int main(int argc, char* argv[])
{
        ros::init(argc,argv,"ltp_node");
        LTPNode llnode;
        ros::spin();
        return 0;
}