LLNode.cpp

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

#include <sensor_msgs/NavSatFix.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include <ros/ros.h>

#include <boost/thread.hpp>

struct LLNode
{
        LLNode():
                originLat(0),
                originLon(0),
                fixValidated(false),
                fixCount(0)
        {
                ros::NodeHandle nh,ph("~");
                nh.param("LocalOriginLat",originLat,originLat);
                nh.param("LocalOriginLon",originLon,originLon);
                ph.param("LocalFixSim",fixValidated, fixValidated);

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

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

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

        void onGps(const sensor_msgs::NavSatFix::ConstPtr& fix)
        {
                //In case we didn't have a fix on launch, but now we got 10 fixes in 15 sec.
                if (!fixValidated)
                {
                        originLat = fix->latitude;
                        originLon = fix->longitude;
                        fixValidated = true;
                }
        };

        void publishFrame()
        {
                ros::Rate rate(1);
                while (ros::ok())
                {
                        tf::Transform transform;
                        if (fixValidated)
                        {
                                transform.setOrigin(tf::Vector3(originLon, originLat, 0));
                                transform.setRotation(tf::createQuaternionFromRPY(0,0,0));
                                broadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "/worldLatLon", "/world"));
                        }

                        transform.setOrigin(tf::Vector3(0, 0, 0));
                        Eigen::Quaternion<float> q;
                        labust::tools::quaternionFromEulerZYX(M_PI,0,M_PI/2,q);
                        transform.setRotation(tf::Quaternion(q.x(),q.y(),q.z(),q.w()));
                        broadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "/world", "local"));

                        rate.sleep();
                }
        }

private:
        ros::Subscriber gps_raw;
        tf::TransformBroadcaster broadcaster;
        double originLat, originLon;
        bool fixValidated;
        int fixCount;
        boost::thread runner;
};

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