Class VisualizeAzimuthNodelet

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class VisualizeAzimuthNodelet : public rclcpp::Node

Compute various azimuth values based on a magnetometer, IMU orientation and possibly also GPS coordinates.

Subscribed topics:

  • ~azimuth (multiple types supported): The azimuth to visualize. Any type supported by compass_conversions package can be used: compass_interfaces/Azimuth, geometry_msgs/Quaternion, geometry_msgs/PoseWithCovarianceStamped or sensor_msgs/Imu. If other types than compass_interfaces/Azimuth are used, either the resolved topic name must contain the azimuth type identification (e.g. end with mag/enu/imu), or you must provide parameters ~input_reference and ~input_orientation.

  • gps/fix (sensor_msgs/NavSatFix, optional): GPS fix messages from which the latitude, longitude, altitude and current year can be read. These are further used to compute magnetic declination and UTM grid convergence factor.

  • utm_zone (std_msgs/Int32, optional): Optional UTM zone updates.

Published topics (see above for explanation):

  • ~azimuth_vis (sensor_msgs/MagneticField, enabled by param ~publish_mag_unbiased, off by default): The magnetic field measurement with bias removed.

Parameters:

  • max_rate (double, optional): If specified, visualization messages frequency will be at most this value [Hz].

  • magnetic_declination (double, radians, optional): If set, forces this value of magnetic declination.

  • utm_grid_convergence (double, radians, optional): If set, forces this value of UTM grid convergence.

  • magnetic_models_path (string, default “$PACKAGE/data/magnetic”): Path where WMM magnetic models can be found. If set to empty string, the models will be searched in a default folder of GeographicLib. Environment variables GEOGRAPHICLIB_MAGNETIC_PATH or GEOGRAPHICLIB_DATA influence the location of this folder.

  • magnetic_model (string, optional): If set, forces using the given WMM model instead of determining the proper one by year. Example value is “wmm2020”.

  • utm_zone (int, optional): If set, forces using this UTM zone instead of determining the proper one.

  • keep_utm_zone (bool, default true): If true, the first determined UTM zone will be used for all future conversions.

  • initial_lat (double, degrees, optional): If set, use this latitude before the first navsat pose is received.

  • initial_lon (double, degrees, optional): If set, use this longitude before the first navsat pose is received.

  • initial_alt (double, meters, optional): If set, use this altitude before the first navsat pose is received.

  • ~input_orientation (str, ‘enu’ or ‘ned’, default: unspecified): ENU or NED orientation to be used to interpret input messages (in case orientation cannot be derived either from message contents or topic name).

  • ~input_reference (str, ‘magnetic’, ‘geographic’ or ‘UTM’, default: no change): North reference to be used to interpret input messages (in case reference cannot be derived either from message contents or topic name).

  • ~input_variance (double, optional, rad^2): If specified, this variance will be used in the output messages if variance cannot be determined from the input messages (e.g. for QuaternionStamped).

Public Functions

explicit VisualizeAzimuthNodelet(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
~VisualizeAzimuthNodelet() override
void init()

Protected Functions

void azimuthCb(const Az &azimuth)

Callback Azimuth messages are received.

Parameters:

azimuth – [in] The Azimuth converted to pose.

Protected Attributes

std::unique_ptr<cras::RateLimiter> rateLimiter
std::shared_ptr<compass_conversions::CompassConverter> converter
std::unique_ptr<compass_conversions::UniversalAzimuthSubscriber> azSub
std::unique_ptr<message_filters::Subscriber<Fix>> fixSub
std::unique_ptr<message_filters::Subscriber<Zone>> zoneSub
std::unique_ptr<compass_conversions::CompassFilter> filter
rclcpp::Publisher<Pose>::SharedPtr visPub