Program Listing for File gps_bridge.cpp

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// Copyright 2024 Universidad Politécnica de Madrid
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// modification, are permitted provided that the following conditions are met:
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//    * Redistributions of source code must retain the above copyright
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//    * Redistributions in binary form must reproduce the above copyright
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//      this software without specific prior written permission.
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/*!*******************************************************************************************
 *  \file       gps_bridge.cpp
 *  \brief      Ignition bridge gps implementation file.
 *  \authors    Pedro Arias Pérez
 *              Rafael Pérez Seguí
 *              Miguel Fernández Cortizas
 *              David Pérez Saura
 *
 *  \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/gps_bridge.hpp"

GPSBridge::GPSBridge()
: Node("gps_bridge")
{
  this->get_parameter("use_sim_time", use_sim_time_);

  this->declare_parameter<std::string>("world_name");
  this->get_parameter("world_name", world_name);

  this->declare_parameter<std::string>("name_space");
  this->get_parameter("name_space", name_space);

  this->declare_parameter<std::string>("sensor_name");
  this->get_parameter("sensor_name", sensor_name);

  this->declare_parameter<std::string>("link_name");
  this->get_parameter("link_name", link_name);

  this->declare_parameter<std::string>("sensor_type");
  this->get_parameter("sensor_type", sensor_type);

  // Initialize the ignition node
  ign_node_ptr_ = std::make_shared<gz::transport::Node>();
  std::string gps_topic = "/world/" + world_name + "/model/" + name_space + "/model/" +
    sensor_name + "/link/" + link_name + "/sensor/" + sensor_type +
    "/navsat";
  ign_node_ptr_->Subscribe(gps_topic, this->ignitionGPSCallback);
  gps_pub_ = this->create_publisher<sensor_msgs::msg::NavSatFix>(
    as2_names::topics::sensor_measurements::gps, as2_names::topics::sensor_measurements::qos);
}

std::string GPSBridge::replace_delimiter(
  const std::string & input,
  const std::string & old_delim,
  const std::string new_delim)
{
  std::string output;
  output.reserve(input.size());

  std::size_t last_pos = 0;

  while (last_pos < input.size()) {
    std::size_t pos = input.find(old_delim, last_pos);
    output += input.substr(last_pos, pos - last_pos);
    if (pos != std::string::npos) {
      output += new_delim;
      pos += old_delim.size();
    }
    last_pos = pos;
  }
  return output;
}

void GPSBridge::ignitionGPSCallback(
  const gz::msgs::NavSat & ign_msg,
  const gz::transport::MessageInfo & msg_info)
{
  sensor_msgs::msg::NavSatFix ros_msg;

  ros_gz_bridge::convert_gz_to_ros(ign_msg.header(), ros_msg.header);
  if (!use_sim_time_) {
    auto time = rclcpp::Clock().now();
    ros_msg.header.stamp = time;
  }
  ros_msg.header.frame_id = GPSBridge::replace_delimiter(ign_msg.frame_id(), "::", "/");
  ros_msg.latitude = ign_msg.latitude_deg();
  ros_msg.longitude = ign_msg.longitude_deg();
  ros_msg.altitude = ign_msg.altitude();

  // position_covariance is not supported in gz::msgs::NavSat.
  ros_msg.position_covariance_type = sensor_msgs::msg::NavSatFix::COVARIANCE_TYPE_UNKNOWN;
  ros_msg.status.status = sensor_msgs::msg::NavSatStatus::STATUS_FIX;

  gps_pub_->publish(ros_msg);
}

rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr GPSBridge::gps_pub_ = nullptr;
bool GPSBridge::use_sim_time_ = false;