graft_ukf_velocity.cpp

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * 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.
 *     * Neither the name of the Willow Garage, Inc. 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 OWNER 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
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
/* 
 * Author: Chad Rockey
 */
 
#include <iostream>
#include <Eigen/Dense>
#include <ros/ros.h>
#include <graft/GraftParameterManager.h>
#include <graft/GraftSensor.h>
#include <graft/GraftOdometryTopic.h>
#include <graft/GraftImuTopic.h>
#include <graft/GraftUKFVelocity.h>
#include <graft/GraftState.h>
#include <tf/transform_broadcaster.h>
 
GraftUKFVelocity ukfv;
 
ros::Publisher state_pub;
ros::Publisher odom_pub;
 
nav_msgs::Odometry odom_;
 
// tf
bool publish_tf_;
boost::shared_ptr<tf::TransformBroadcaster> broadcaster_;
 
std::string parent_frame_id_;
std::string child_frame_id_;
 
void publishTF(const nav_msgs::Odometry& msg){
  geometry_msgs::TransformStamped tf;
  tf.header.stamp = msg.header.stamp;
  tf.header.frame_id = msg.header.frame_id;
  tf.child_frame_id = msg.child_frame_id;
  
  tf.transform.translation.x = msg.pose.pose.position.x;
  tf.transform.translation.y = msg.pose.pose.position.y;
  tf.transform.translation.z = msg.pose.pose.position.z;
  tf.transform.rotation = msg.pose.pose.orientation;
  
  broadcaster_->sendTransform(tf);
}
 
void timer_callback(const ros::TimerEvent& event){
        double dt = ukfv.predictAndUpdate();
 
        graft::GraftState state = *ukfv.getMessageFromState();
        state.header.stamp = ros::Time::now();
        state_pub.publish(state);
 
        odom_.header.stamp = ros::Time::now();
        odom_.header.frame_id = parent_frame_id_;
        odom_.child_frame_id = child_frame_id_;
        odom_.twist.twist.linear.x = state.twist.linear.x;
        odom_.twist.twist.linear.y = state.twist.linear.y;
        odom_.twist.twist.angular.z = state.twist.angular.z;
 
        // Update Odometry
        double diff = pow(odom_.pose.pose.orientation.w, 2.0)-pow(odom_.pose.pose.orientation.z, 2.0);
        double mult = 2.0*odom_.pose.pose.orientation.w*odom_.pose.pose.orientation.z;
        double theta = atan2(mult, diff);
        if(std::abs(odom_.twist.twist.angular.z) < 0.00001){ // There's no (or very little) curvature, apply the straight line model
                odom_.pose.pose.position.x += odom_.twist.twist.linear.x*dt*cos(theta)-odom_.twist.twist.linear.y*dt*sin(theta);
                odom_.pose.pose.position.y += odom_.twist.twist.linear.x*dt*sin(theta)+odom_.twist.twist.linear.y*dt*cos(theta);
        } else { // Calculate components of arc distance and add distances.
                double curvature_x = odom_.twist.twist.linear.x/odom_.twist.twist.angular.z;
                double curvature_y = odom_.twist.twist.linear.y/odom_.twist.twist.angular.z;
                double new_theta = theta + odom_.twist.twist.angular.z*dt;
 
                odom_.pose.pose.position.x += -curvature_x*sin(theta) + curvature_x*sin(new_theta);
                odom_.pose.pose.position.x += -curvature_y*cos(theta) + curvature_y*cos(new_theta);
                odom_.pose.pose.position.y += curvature_x*cos(theta) - curvature_x*cos(new_theta);
                odom_.pose.pose.position.y += -curvature_y*sin(theta) + curvature_y*sin(new_theta);
                theta = new_theta;
        }
        odom_.pose.pose.orientation.z = sin(theta/2.0);
        odom_.pose.pose.orientation.w = cos(theta/2.0);
        odom_pub.publish(odom_);
        if(publish_tf_){
          publishTF(odom_);
        }
}
 
int main(int argc, char **argv)
{
        ros::init(argc, argv, "graft_ukf_velocity");
        ros::NodeHandle n;
        ros::NodeHandle pnh("~");
        state_pub = pnh.advertise<graft::GraftState>("state", 5);
        odom_pub = n.advertise<nav_msgs::Odometry>("odom_combined", 5);
 
        // Load parameters
        std::vector<boost::shared_ptr<GraftSensor> > topics;
        std::vector<ros::Subscriber> subs;
        GraftParameterManager manager(n, pnh);
        manager.loadParameters(topics, subs);
 
        publish_tf_ = manager.getPublishTF();
 
        parent_frame_id_ = manager.getParentFrameID();
        child_frame_id_ = manager.getChildFrameID();
 
        // Set up the E
        std::vector<double> initial_covariance = manager.getInitialCovariance();
        std::vector<double> Q = manager.getProcessNoise();
        ukfv.setAlpha(manager.getAlpha());
        ukfv.setKappa(manager.getKappa());
        ukfv.setBeta(manager.getBeta());
        ukfv.setInitialCovariance(initial_covariance);
        ukfv.setProcessNoise(Q);
        ukfv.setTopics(topics);
 
        odom_.pose.pose.position.x = 0.0;
        odom_.pose.pose.position.y = 0.0;
        odom_.pose.pose.position.z = 0.0;
 
        odom_.pose.pose.orientation.w = 1.0;
        odom_.pose.pose.orientation.x = 0.0;
        odom_.pose.pose.orientation.y = 0.0;
        odom_.pose.pose.orientation.z = 0.0;
 
        odom_.twist.twist.linear.x = 0.0;
        odom_.twist.twist.linear.y = 0.0;
        odom_.twist.twist.linear.z = 0.0;
        odom_.twist.twist.angular.x = 0.0;
        odom_.twist.twist.angular.y = 0.0;
        odom_.twist.twist.angular.z = 0.0;
 
        // Tf Broadcaster
    broadcaster_.reset(new tf::TransformBroadcaster());
 
        // Start loop
        ros::Timer timer = n.createTimer(ros::Duration(1.0/manager.getUpdateRate()), timer_callback);
 
        // Spin
        ros::spin();
}