DvlSim.cpp

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

#include <nav_msgs/Odometry.h>
#include <geometry_msgs/TwistStamped.h>
#include <std_msgs/Float32.h>
#include <ros/ros.h>

#include <Eigen/Dense>

struct DvlSim
{
        DvlSim():
                maxBottomLock(100),
                maxDepth(100),
                dvl_pub(1)
        {
                ros::NodeHandle nh,ph("~");

                ph.param("MaxBottomLock",maxBottomLock, maxBottomLock);
                ph.param("MaxDepth", maxDepth, maxDepth);
                ph.param("DvlPub", dvl_pub, dvl_pub);

                odom = nh.subscribe<nav_msgs::Odometry>("meas_odom",1,&DvlSim::onOdom, this);
                dvl_nu = nh.advertise<geometry_msgs::TwistStamped>("dvl",1);
                dvl_ned = nh.advertise<geometry_msgs::TwistStamped>("dvl_ned",1);
                altitude_pub = nh.advertise<std_msgs::Float32>("altitude",1);

                last_pos[0] = last_pos[1] = last_pos[2] = 0;
        }

        void onOdom(const typename nav_msgs::Odometry::ConstPtr& msg)
        {
                static int i=0;
                i=++i%dvl_pub;

                if (i == 0)
                {
                        double dT = (ros::Time::now() - lastTime).toSec();
                        lastTime = ros::Time::now();
                        geometry_msgs::TwistStamped::Ptr dvl(new geometry_msgs::TwistStamped());
                        dvl->header.stamp = ros::Time::now();
                        dvl->header.frame_id = msg->header.frame_id;
                        double pos[3],v[3];
                        labust::tools::pointToVector(msg->pose.pose.position, pos);
                        for (int i=0; i<3; ++i)
                        {
                                v[i] = (pos[i] - last_pos[i])/dT;
                                last_pos[i] = pos[i];
                        }
                        labust::tools::vectorToPoint(v, dvl->twist.linear);
                        dvl_ned.publish(dvl);

                        dvl.reset(new geometry_msgs::TwistStamped());
                        dvl->header.stamp = ros::Time::now();
                        dvl->header.frame_id = msg->child_frame_id;
                        //Calculate body-fixed speeds
                        Eigen::Quaternion<double> q(msg->pose.pose.orientation.w,
                                        msg->pose.pose.orientation.x,
                                        msg->pose.pose.orientation.y,
                                        msg->pose.pose.orientation.z);
                        Eigen::Vector3d nu = q.matrix().transpose() * Eigen::Vector3d(v[0],v[1],v[2]);
                        dvl->twist.linear.x = nu(0);
                        dvl->twist.linear.y = nu(1);
                        dvl->twist.linear.z = nu(2);
                        dvl_nu.publish(dvl);

                        if ((maxDepth - msg->pose.pose.position.z) < maxBottomLock)
                        {
                                std_msgs::Float32::Ptr altitude(new std_msgs::Float32());
                                altitude->data = maxDepth - msg->pose.pose.position.z;
                                altitude_pub.publish(altitude);
                        }
                }
        }

private:
        ros::Subscriber odom;
        ros::Publisher dvl_nu, altitude_pub, dvl_ned;
        ros::Time lastTime;
        double last_pos[3];
        int dvl_pub;
        double maxBottomLock, maxDepth;
};

int main(int argc, char* argv[])
{
        ros::init(argc,argv,"dvl_sim");
        ros::NodeHandle nh;
        DvlSim dvl;
        ros::spin();
        return 0;
}