navsts2odom.cpp

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

#include <auv_msgs/NavSts.h>
#include <nav_msgs/Odometry.h>
#include <ros/ros.h>


void onNavSts(ros::Publisher& odom, const Eigen::Matrix3d& rot, const auv_msgs::NavSts::ConstPtr& msg)
{
    nav_msgs::Odometry::Ptr out(new nav_msgs::Odometry());

    out->twist.twist.linear.x = msg->body_velocity.x;
    out->twist.twist.linear.y = msg->body_velocity.y;
    out->twist.twist.linear.z = msg->body_velocity.z;
    out->twist.twist.angular.x = msg->orientation_rate.roll;
    out->twist.twist.angular.y = msg->orientation_rate.pitch;
    out->twist.twist.angular.z = msg->orientation_rate.yaw;

    Eigen::Vector3d ned;
    ned<<msg->position.north, msg->position.east, msg->position.depth;
    Eigen::Vector3d xyz = rot*ned;

    out->pose.pose.position.x = xyz(0);
    out->pose.pose.position.y = xyz(1);
    out->pose.pose.position.z = xyz(2);

    labust::tools::quaternionFromEulerZYX(msg->orientation.roll,
                msg->orientation.pitch,
                        msg->orientation.yaw,
                        out->pose.pose.orientation);

    odom.publish(out);
}


int main(int argc, char* argv[])
{
        ros::init(argc,argv,"navsts2odom");
        ros::NodeHandle nh, ph("~");

        //Get rotation between the two
        std::vector<double> rpy(3,0);
        ph.param("rpy",rpy,rpy);

        //Setup the LTP to Odom frame
        Eigen::Quaternion<double> q;
        labust::tools::quaternionFromEulerZYX(rpy[0], rpy[1], rpy[2],q);
        Eigen::Matrix3d rot = q.toRotationMatrix().transpose();

        ros::Publisher odom = nh.advertise<nav_msgs::Odometry>("uwsim_hook", 1);
        ros::Subscriber navsts = nh.subscribe<auv_msgs::NavSts>("navsts",1,
                        boost::bind(&onNavSts, boost::ref(odom), boost::ref(rot), _1));

        ros::spin();
        return 0;
}