GPSSim.cpp

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

#include <nav_msgs/Odometry.h>
#include <sensor_msgs/NavSatFix.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/transform_broadcaster.h>
#include <geometry_msgs/TransformStamped.h>
#include <labust/tools/conversions.hpp>
#include <ros/ros.h>

struct GPSSim
{
        GPSSim():
                rate(10),
                listener(buffer),
                gps_z(0)
        {
                ros::NodeHandle nh,ph("~");
                ph.param("gps_pub",rate,rate);
                ph.param("gps_height",gps_z,gps_z);

                odom = nh.subscribe<nav_msgs::Odometry>("meas_odom",1,&GPSSim::onOdom, this);
                gps_pub = nh.advertise<sensor_msgs::NavSatFix>("fix",1);
        }

        void onOdom(const typename nav_msgs::Odometry::ConstPtr& msg)
        {
                sensor_msgs::NavSatFix::Ptr fix(new sensor_msgs::NavSatFix());
                fix->header.stamp = ros::Time::now();
                fix->header.frame_id = "worldLatLon";

                //Broadcast the position of the GPS device.
                geometry_msgs::TransformStamped transform;
                transform.transform.translation.x = 0;
                transform.transform.translation.y = 0;
                transform.transform.translation.z = -gps_z;
                labust::tools::quaternionFromEulerZYX(0, 0, 0,
                                transform.transform.rotation);
                transform.child_frame_id = "gps_frame";
                transform.header.frame_id = "base_link";
                transform.header.stamp = ros::Time::now();
                broadcaster.sendTransform(transform);

                geometry_msgs::TransformStamped transformLocal, transformDeg;
                try
                {
                        //Get the GPS position
                        transformLocal = buffer.lookupTransform("local", "gps_frame", ros::Time(0));
                        //In case the origin changes
                        transformDeg = buffer.lookupTransform("worldLatLon", "world",
                                        ros::Time(0), ros::Duration(5.0));
                        double originLat = transformDeg.transform.translation.y;
        double originLon = transformDeg.transform.translation.x;

                        fix->altitude = -transformDeg.transform.translation.z;
                        std::pair<double, double> diffAngle =
                                        labust::tools::meter2deg(msg->pose.pose.position.x,
                                        msg->pose.pose.position.y,
                                        //The latitude angle
                                        originLat);

                        fix->latitude = originLat + diffAngle.first;
                        fix->longitude = originLon + diffAngle.second;

                        static int i=0;
                        i=++i%rate;
                        if (fix->altitude>=-0.1 && (i == 0))
                        {
                                gps_pub.publish(fix);
                        }
                }
                catch (tf2::TransformException& ex)
                {
                        ROS_WARN("%s",ex.what());
                }
        }

private:
        ros::Subscriber odom;
        ros::Publisher gps_pub;
        int rate;
        tf2_ros::Buffer buffer;
        tf2_ros::TransformListener listener;
        tf2_ros::TransformBroadcaster broadcaster;
        double gps_z;
};

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