Program Listing for File azimuth_bridge.cpp

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/*!*******************************************************************************************
 *  \file       ground_truth_bridge.cpp
 *  \brief      Ignition bridge ground truth implementation file.
 *  \authors    Javier Melero Deza
 *              Pedro Arias Pérez
 *
 *  \copyright  Copyright (c) 2022 Universidad Politécnica de Madrid
 *              All Rights Reserved
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 * 3. Neither the name of the copyright holder nor the names of its contributors
 *    may be used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
 * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 ********************************************************************************/
#include "as2_gazebo_assets/azimuth_bridge.hpp"

AzimuthBridge::AzimuthBridge()
: Node("azimuth_bridge")
{
  this->declare_parameter<std::string>("name_space");
  this->get_parameter("name_space", model_name_);

  ps_pub_ = this->create_publisher<std_msgs::msg::Float32>(
    "gps/azimuth",
    as2_names::topics::ground_truth::qos);

  // Initialize the ignition node
  ign_node_ptr_ = std::make_shared<gz::transport::Node>();
  std::string ground_truth_topic = "/model/gps/odometry";
  ign_node_ptr_->Subscribe(ground_truth_topic, this->ignitionGroundTruthCallback);
}

void AzimuthBridge::ignitionGroundTruthCallback(
  const gz::msgs::Odometry & ign_msg,
  const gz::transport::MessageInfo & msg_info)
{
  std_msgs::msg::Float32 az_msg;
  Quaternion q;
  q.x = ign_msg.pose().orientation().x();
  q.y = ign_msg.pose().orientation().y();
  q.z = ign_msg.pose().orientation().z();
  q.w = ign_msg.pose().orientation().w();

  az_msg.data = toAzimuth(toEulerYaw(q));

  ps_pub_->publish(az_msg);
}

float AzimuthBridge::toEulerYaw(Quaternion q)
{
  float siny_cosp = 2 * (q.w * q.z + q.x * q.y);
  float cosy_cosp = 1 - 2 * (q.y * q.y + q.z * q.z);
  float yaw = std::atan2(siny_cosp, cosy_cosp);

  return yaw;
}

float AzimuthBridge::toAzimuth(float yaw)
{
  float deg = yaw * 360 / (M_PI * 2);       // [-180, 180]
  deg = -deg + 90.0f;
  if (deg < 0) {
    deg = 360 + deg;
  }

  return deg;
}

rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr AzimuthBridge::ps_pub_ = nullptr;