#include <navsat_transform.h>
Public Member Functions | |
| NavSatTransform () | |
| Constructor. | |
| void | run () |
| Main run loop. | |
| ~NavSatTransform () | |
| Destructor. | |
Private Member Functions | |
| void | computeTransform () |
| Computes the transform from the UTM frame to the odom frame. | |
| void | gpsFixCallback (const sensor_msgs::NavSatFixConstPtr &msg) |
| Callback for the GPS fix data. | |
| void | imuCallback (const sensor_msgs::ImuConstPtr &msg) |
| Callback for the IMU data. | |
| void | odomCallback (const nav_msgs::OdometryConstPtr &msg) |
| Callback for the odom data. | |
| bool | prepareFilteredGps (sensor_msgs::NavSatFix &filteredGps) |
| Converts the odometry data back to GPS and broadcasts it. | |
| bool | prepareGpsOdometry (nav_msgs::Odometry &gpsOdom) |
| Prepares the GPS odometry message before sending. | |
Private Attributes | |
| bool | broadcastUtmTransform_ |
| Whether or not we broadcast the UTM transform. | |
| bool | gpsUpdated_ |
| Whether or not we have new GPS data. | |
| ros::Time | gpsUpdateTime_ |
| Timestamp of the latest good GPS message. | |
| bool | hasGps_ |
| Whether or not the GPS fix is usable. | |
| bool | hasImu_ |
| Signifies that we have received an IMU message. | |
| bool | hasOdom_ |
| Signifies that we have an odometry message. | |
| Eigen::MatrixXd | latestOdomCovariance_ |
| Covariance for most recent odometry data. | |
| tf::Quaternion | latestOrientation_ |
| Latest IMU orientation. | |
| Eigen::MatrixXd | latestUtmCovariance_ |
| Covariance for most recent GPS/UTM data. | |
| tf::Pose | latestUtmPose_ |
| Latest GPS data, stored as UTM coords. | |
| tf::Pose | latestWorldPose_ |
| Latest odometry data. | |
| double | magneticDeclination_ |
| Parameter that specifies the magnetic decliation for the robot's environment. | |
| bool | odomUpdated_ |
| Whether or not we have new odometry data. | |
| ros::Time | odomUpdateTime_ |
| Timestamp of the latest good odometry message. | |
| bool | publishGps_ |
| Whether or not we publish filtered GPS messages. | |
| bool | transformGood_ |
| Whether or not we've computed a good heading. | |
| bool | useOdometryYaw_ |
| Whether we get the transform's yaw from the odometry or IMU source. | |
| double | utmOdomTfYaw_ |
| Stores the yaw we need to compute the transform. | |
| tf::Transform | utmWorldTransform_ |
| Holds the UTM->odom transform. | |
| tf::Transform | utmWorldTransInverse_ |
| Holds the odom->UTM transform for filtered GPS broadcast. | |
| std::string | utmZone_ |
| UTM zone as determined after transforming GPS message. | |
| std::string | worldFrameId_ |
| Frame ID of the GPS odometry output. | |
| double | yawOffset_ |
| IMU's yaw offset. | |
| bool | zeroAltitude_ |
| Whether or not to report 0 altitude. | |
Definition at line 45 of file navsat_transform.h.
Constructor.
Definition at line 42 of file navsat_transform.cpp.
Destructor.
Definition at line 61 of file navsat_transform.cpp.
| void RobotLocalization::NavSatTransform::computeTransform | ( | ) | [private] |
Computes the transform from the UTM frame to the odom frame.
Definition at line 120 of file navsat_transform.cpp.
| void RobotLocalization::NavSatTransform::gpsFixCallback | ( | const sensor_msgs::NavSatFixConstPtr & | msg | ) | [private] |
Callback for the GPS fix data.
Definition at line 85 of file navsat_transform.cpp.
| void RobotLocalization::NavSatTransform::imuCallback | ( | const sensor_msgs::ImuConstPtr & | msg | ) | [private] |
Callback for the IMU data.
Definition at line 114 of file navsat_transform.cpp.
| void RobotLocalization::NavSatTransform::odomCallback | ( | const nav_msgs::OdometryConstPtr & | msg | ) | [private] |
Callback for the odom data.
Definition at line 66 of file navsat_transform.cpp.
| bool RobotLocalization::NavSatTransform::prepareFilteredGps | ( | sensor_msgs::NavSatFix & | filteredGps | ) | [private] |
Converts the odometry data back to GPS and broadcasts it.
Definition at line 258 of file navsat_transform.cpp.
| bool RobotLocalization::NavSatTransform::prepareGpsOdometry | ( | nav_msgs::Odometry & | gpsOdom | ) | [private] |
Prepares the GPS odometry message before sending.
Definition at line 205 of file navsat_transform.cpp.
Main run loop.
Definition at line 313 of file navsat_transform.cpp.
bool RobotLocalization::NavSatTransform::broadcastUtmTransform_ [private] |
Whether or not we broadcast the UTM transform.
Definition at line 65 of file navsat_transform.h.
bool RobotLocalization::NavSatTransform::gpsUpdated_ [private] |
Whether or not we have new GPS data.
We only want to compute and broadcast our transformed GPS data if it's new. This variable keeps track of that.
Definition at line 97 of file navsat_transform.h.
Timestamp of the latest good GPS message.
We assign this value to the timestamp of the odometry message that we output
Definition at line 111 of file navsat_transform.h.
bool RobotLocalization::NavSatTransform::hasGps_ [private] |
Whether or not the GPS fix is usable.
Definition at line 78 of file navsat_transform.h.
bool RobotLocalization::NavSatTransform::hasImu_ [private] |
Signifies that we have received an IMU message.
Definition at line 86 of file navsat_transform.h.
bool RobotLocalization::NavSatTransform::hasOdom_ [private] |
Signifies that we have an odometry message.
Definition at line 82 of file navsat_transform.h.
Eigen::MatrixXd RobotLocalization::NavSatTransform::latestOdomCovariance_ [private] |
Covariance for most recent odometry data.
Definition at line 171 of file navsat_transform.h.
Latest IMU orientation.
Definition at line 163 of file navsat_transform.h.
Eigen::MatrixXd RobotLocalization::NavSatTransform::latestUtmCovariance_ [private] |
Covariance for most recent GPS/UTM data.
Definition at line 167 of file navsat_transform.h.
Latest GPS data, stored as UTM coords.
Definition at line 159 of file navsat_transform.h.
Latest odometry data.
Definition at line 155 of file navsat_transform.h.
double RobotLocalization::NavSatTransform::magneticDeclination_ [private] |
Parameter that specifies the magnetic decliation for the robot's environment.
Definition at line 70 of file navsat_transform.h.
bool RobotLocalization::NavSatTransform::odomUpdated_ [private] |
Whether or not we have new odometry data.
If we're creating filtered GPS messages, then we only want to broadcast them when new odometry data arrives.
Definition at line 104 of file navsat_transform.h.
Timestamp of the latest good odometry message.
We assign this value to the timestamp of the odometry message that we output
Definition at line 118 of file navsat_transform.h.
bool RobotLocalization::NavSatTransform::publishGps_ [private] |
Whether or not we publish filtered GPS messages.
Definition at line 137 of file navsat_transform.h.
bool RobotLocalization::NavSatTransform::transformGood_ [private] |
Whether or not we've computed a good heading.
Definition at line 90 of file navsat_transform.h.
bool RobotLocalization::NavSatTransform::useOdometryYaw_ [private] |
Whether we get the transform's yaw from the odometry or IMU source.
Definition at line 141 of file navsat_transform.h.
double RobotLocalization::NavSatTransform::utmOdomTfYaw_ [private] |
Stores the yaw we need to compute the transform.
Definition at line 74 of file navsat_transform.h.
Holds the UTM->odom transform.
Definition at line 175 of file navsat_transform.h.
Holds the odom->UTM transform for filtered GPS broadcast.
Definition at line 179 of file navsat_transform.h.
std::string RobotLocalization::NavSatTransform::utmZone_ [private] |
UTM zone as determined after transforming GPS message.
Definition at line 151 of file navsat_transform.h.
std::string RobotLocalization::NavSatTransform::worldFrameId_ [private] |
Frame ID of the GPS odometry output.
This will just match whatever your odometry message has
Definition at line 147 of file navsat_transform.h.
double RobotLocalization::NavSatTransform::yawOffset_ [private] |
IMU's yaw offset.
Your IMU should read 0 when facing *magnetic* north. If it doesn't, this (parameterized) value gives the offset (NOTE: if you have a magenetic declination, use the parameter setting for that).
Definition at line 126 of file navsat_transform.h.
bool RobotLocalization::NavSatTransform::zeroAltitude_ [private] |
Whether or not to report 0 altitude.
If this parameter is true, we always report 0 for the altitude of the converted GPS odometry message.
Definition at line 133 of file navsat_transform.h.