ImuSim.cpp

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 *  Author: Dula Nad
 *  Created: 01.02.2013.
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#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Vector3.h>
#include <sensor_msgs/Imu.h>
#include <std_msgs/Float32.h>
#include <tf2_ros/transform_broadcaster.h>
#include <geometry_msgs/TransformStamped.h>
#include <ros/ros.h>
#include <labust/tools/conversions.hpp>

#include <boost/thread/mutex.hpp>

struct ImuSim
{
        ImuSim()
        {
                ros::NodeHandle nh;
                odom = nh.subscribe<nav_msgs::Odometry>("meas_odom",1,&ImuSim::onOdom, this);
                acc = nh.subscribe<geometry_msgs::Vector3>("nuacc_ideal",1,&ImuSim::onAcc, this);

                imu_pub = nh.advertise<sensor_msgs::Imu>("imu",1);
                depth_pub = nh.advertise<std_msgs::Float32>("depth",1);
        }

        void onOdom(const typename nav_msgs::Odometry::ConstPtr& msg)
        {
                sensor_msgs::Imu::Ptr imu(new sensor_msgs::Imu());
                imu->header.stamp = ros::Time::now();
                imu->header.frame_id = "base_link";
                imu->angular_velocity = msg->twist.twist.angular;
                imu->orientation = msg->pose.pose.orientation;

                {
                        boost::mutex::scoped_lock l(acc_mux);
                        imu->linear_acceleration = nuacc;
                }

                imu_pub.publish(imu);

                std_msgs::Float32::Ptr depth(new std_msgs::Float32());
                depth->data = msg->pose.pose.position.z;
                depth_pub.publish(depth);

                //Publish the imu_frame location
                geometry_msgs::TransformStamped transform;
                transform.transform.translation.x = 0;
                transform.transform.translation.y = 0;
                transform.transform.translation.z = 0;
                labust::tools::quaternionFromEulerZYX(0, 0, 0,
                                transform.transform.rotation);
                transform.child_frame_id = "imu_frame";
                transform.header.frame_id = "base_link";
                transform.header.stamp = ros::Time::now();
                broadcaster.sendTransform(transform);
        }

        void onAcc(const typename geometry_msgs::Vector3::ConstPtr& msg)
        {
                boost::mutex::scoped_lock l(acc_mux);
                nuacc = *msg;
        }

private:
        ros::Subscriber odom, acc;
        ros::Publisher imu_pub, depth_pub;
        boost::mutex acc_mux;
        geometry_msgs::Vector3 nuacc;
        tf2_ros::TransformBroadcaster broadcaster;
};

int main(int argc, char* argv[])
{
        ros::init(argc,argv,"imu_sim");
        ros::NodeHandle nh;
        ImuSim imu;
        ros::spin();
        return 0;
}