vision_speed_estimate.cpp

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/*
 * Copyright 2014 Nuno Marques.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include <mavros/mavros_plugin.h>
#include <pluginlib/class_list_macros.h>

#include <geometry_msgs/TwistStamped.h>
#include <geometry_msgs/Vector3Stamped.h>

namespace mavplugin {

class VisionSpeedEstimatePlugin : public MavRosPlugin {
public:
        VisionSpeedEstimatePlugin() :
                uas(nullptr)
        { };

        void initialize(UAS &uas_,
                        ros::NodeHandle &nh,
                        diagnostic_updater::Updater &diag_updater)
        {
                bool listen_twist;
                uas = &uas_;
                sp_nh = ros::NodeHandle(nh, "vision_speed");

                sp_nh.param("listen_twist", listen_twist, false);

                if(listen_twist)
                        vision_vel_sub = sp_nh.subscribe("speed_twist", 10, &VisionSpeedEstimatePlugin::vel_twist_cb, this);
                else
                        vision_vel_sub = sp_nh.subscribe("speed_vector", 10, &VisionSpeedEstimatePlugin::vel_speed_cb, this);
        }

        const std::string get_name() const {
                return "VisionSpeedEstimate";
        }

        const message_map get_rx_handlers() {
                return { /* Rx disabled */ };
        }

private:
        UAS *uas;

        ros::NodeHandle sp_nh;
        ros::Subscriber vision_vel_sub;

        /* -*- low-level send -*- */

        void vision_speed_estimate(uint64_t usec,
                        float x, float y, float z) {
                mavlink_message_t msg;
                mavlink_msg_vision_speed_estimate_pack_chan(UAS_PACK_CHAN(uas), &msg,
                                usec,
                                x, y, z);
                UAS_FCU(uas)->send_message(&msg);
        }

        /* -*- mid-level helpers -*- */

        void send_vision_speed(float vx, float vy, float vz, const ros::Time &stamp) {

                // TODO: check conversion. Issue #49.
                vision_speed_estimate(stamp.toNSec() / 1000,
                                vy, vx, -vz);
        }

        /* -*- callbacks -*- */

        void vel_twist_cb(const geometry_msgs::TwistStamped::ConstPtr &req) {
                send_vision_speed(req->twist.linear.x, req->twist.linear.y, req->twist.linear.z, req->header.stamp);
        }

        void vel_speed_cb(const geometry_msgs::Vector3Stamped::ConstPtr &req) {
                send_vision_speed(req->vector.x, req->vector.y, req->vector.z, req->header.stamp);
        }
};

}; // namespace mavplugin

PLUGINLIB_EXPORT_CLASS(mavplugin::VisionSpeedEstimatePlugin, mavplugin::MavRosPlugin)