-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
project(bno055_driver)
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-# bno055
- eigen_conversions
- geometry_msgs
- roscpp
- sensor_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
find_package(Eigen3 REQUIRED)
+#find_package(bno055 REQUIRED)
+find_package(tf2_eigen REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
-add_library(bno055 STATIC IMPORTED) # or STATIC instead of SHARED
-set_target_properties(bno055 PROPERTIES
- IMPORTED_LOCATION "$ENV{HOME}/lib/libbno055.a"
- INTERFACE_INCLUDE_DIRECTORIES "$ENV{HOME}/include"
-)
-add_library(bno055ifc STATIC IMPORTED) # or STATIC instead of SHARED
-set_target_properties(bno055ifc PROPERTIES
- IMPORTED_LOCATION "$ENV{HOME}/lib/libbno055ifc.a"
- INTERFACE_INCLUDE_DIRECTORIES "$ENV{HOME}/include"
-)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# geometry_msgs# sensor_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES bno055_driver
-# CATKIN_DEPENDS bno055 eigen_conversions geometry_msgs roscpp sensor_msgs
-# DEPENDS Eigen3
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
- ${catkin_INCLUDE_DIRS}
-# TODO: Check names of system library include directories (Eigen3)
- ${EIGEN3_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/bno055_driver.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
add_executable(bno055_node src/bno055_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(bno055_node
- ${catkin_LIBRARIES}
-# ${Eigen3_LIBRARIES}
- bno055ifc
- bno055
+target_include_directories(bno055_node PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>
+ $<INSTALL_INTERFACE:include>)
+target_compile_features(bno055_node PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
+ament_target_dependencies(
+ bno055_node
+ "rclcpp"
+ "Eigen3"
+# "bno055"
+ "tf2_eigen"
+ "geometry_msgs"
+ "sensor_msgs"
)
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_bno055_driver.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+target_include_directories(bno055_node PUBLIC $ENV{HOME}/include)
+target_link_libraries(bno055_node $ENV{HOME}/lib/libbno055.a)
+target_link_libraries(bno055_node $ENV{HOME}/lib/libbno055ifc.a)
+
+install(TARGETS bno055_node
+ DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY config launch
+ DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ # the following line skips the linter which checks for copyrights
+ # comment the line when a copyright and license is added to all source files
+ set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # comment the line when this package is in a git repo and when
+ # a copyright and license is added to all source files
+ set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
--- /dev/null
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
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+ Developers that use the GNU GPL protect your rights with two steps:
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/******************************************************************************
ROS BNO055 Driver
BNO055 IMU Publisher Node
- Copyright (C) 2019 Walter Fetter Lages <w.fetter@ieee.org>
+ Copyright (C) 2019, 2022 Walter Fetter Lages <w.fetter@ieee.org>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
#include <bno055_i2c.h>
#include <bno055_units.h>
-#include <ros/node_handle.h>
-#include <geometry_msgs/Vector3Stamped.h>
-#include <sensor_msgs/Imu.h>
-#include <sensor_msgs/Temperature.h>
-#include <sensor_msgs/MagneticField.h>
-#include <eigen_conversions/eigen_msg.h>
+#include <rclcpp/rclcpp.hpp>
+#include <geometry_msgs/msg/vector3_stamped.hpp>
+#include <sensor_msgs/msg/imu.hpp>
+#include <sensor_msgs/msg/temperature.hpp>
+#include <sensor_msgs/msg/magnetic_field.hpp>
+#include <tf2_eigen/tf2_eigen.hpp>
#include <Eigen/Dense>
-using namespace Eigen;
#define sqr(x) ((x)*(x))
-class Bno055Node
+class Bno055Node: public rclcpp::Node
{
public:
- Bno055Node(ros::NodeHandle node);
+ Bno055Node(void);
~Bno055Node(void);
void sample(void);
void publish(void) const;
private:
struct bno055_t bno055_;
- ros::NodeHandle node_;
- ros::Publisher dataRawPub_;
- ros::Publisher dataPub_;
- ros::Publisher temperaturePub_;
- ros::Publisher magneticFieldPub_;
- ros::Publisher rpyPub_;
- ros::Publisher gravityPub_;
+ rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr dataRawPub_;
+ rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr dataPub_;
+ rclcpp::Publisher<sensor_msgs::msg::Temperature>::SharedPtr temperaturePub_;
+ rclcpp::Publisher<sensor_msgs::msg::MagneticField>::SharedPtr magneticFieldPub_;
+ rclcpp::Publisher<geometry_msgs::msg::Vector3Stamped>::SharedPtr rpyPub_;
+ rclcpp::Publisher<geometry_msgs::msg::Vector3Stamped>::SharedPtr gravityPub_;
bool uart_;
- Vector3d accel_;
- Vector3d mag_;
- Vector3d gyro_;
+ Eigen::Vector3d accel_;
+ Eigen::Vector3d mag_;
+ Eigen::Vector3d gyro_;
- Quaterniond quaternion_;
- Vector3d rpy_;
- Vector3d linearAccel_;
- Vector3d gravity_;
+ Eigen::Quaterniond quaternion_;
+ Eigen::Vector3d rpy_;
+ Eigen::Vector3d linearAccel_;
+ Eigen::Vector3d gravity_;
double accStdDev_;
double gyroStdDev_;
double temp_;
std::string frameId_;
+
+ rclcpp::TimerBase::SharedPtr timer_;
};
-Bno055Node::Bno055Node(ros::NodeHandle node): uart_(false)
+Bno055Node::Bno055Node(void): Node("imu"), uart_(false)
{
- node_=node;
-
- ros::NodeHandle nh("~");
std::string device;
- if(!nh.getParam("device",device))
+ declare_parameter("device",rclcpp::PARAMETER_STRING);
+ if(!get_parameter("device",device))
{
- ROS_ERROR_STREAM("Could not find parameter: device.");
+ RCLCPP_ERROR_STREAM(get_logger(),"Could not find parameter: device.");
exit(-1);
}
std::string addressStr;
- if(!nh.getParam("address",addressStr)) uart_=true;
+ declare_parameter("address",rclcpp::PARAMETER_STRING);
+ if(!get_parameter("address",addressStr)) uart_=true;
int mode;
- nh.param("mode",mode,BNO055_OPERATION_MODE_NDOF);
+ declare_parameter("mode",rclcpp::PARAMETER_INTEGER);
+ get_parameter_or("mode",mode,BNO055_OPERATION_MODE_NDOF);
if(uart_)
{
if(BNO055_tty_init(device.c_str(),&bno055_))
{
- ROS_ERROR_STREAM("Error initializing TTY interface");
+ RCLCPP_ERROR_STREAM(get_logger(),"Error initializing TTY interface");
exit(-1);
}
}
u8 address=std::stoi(addressStr,NULL,0);
if(BNO055_i2c_init(device.c_str(),address,&bno055_))
{
- perror("Error initializing I2C interface");
+ RCLCPP_ERROR_STREAM(get_logger(),"Error initializing I2C interface: " << strerror(errno));
exit(-1);
}
}
if(bno055_init(&bno055_) != BNO055_SUCCESS)
- ROS_ERROR_STREAM("Error initializing bno055.");
+ RCLCPP_ERROR_STREAM(get_logger(),"Error initializing bno055.");
u8 stat_clk;
if(bno055_get_stat_main_clk(&stat_clk) != BNO055_SUCCESS)
- ROS_ERROR_STREAM("Error reading clock status.");
+ RCLCPP_ERROR_STREAM(get_logger(),"Error reading clock status.");
else
{
if(stat_clk==0)
{
if(bno055_set_clk_src(1) != BNO055_SUCCESS)
- ROS_ERROR_STREAM("Error setting clock source.");
+ RCLCPP_ERROR_STREAM(get_logger(),"Error setting clock source.");
}
- else ROS_ERROR_STREAM("Clock source can't be changed.");
+ else RCLCPP_ERROR_STREAM(get_logger(),"Clock source can't be changed.");
}
if(bno055_set_accel_unit(BNO055_ACCEL_UNIT_MSQ) != BNO055_SUCCESS)
- ROS_ERROR_STREAM("Error setting acceleration unit to m/s^2.");
+ RCLCPP_ERROR_STREAM(get_logger(),"Error setting acceleration unit to m/s^2.");
if(bno055_set_gyro_unit(BNO055_GYRO_UNIT_RPS) != BNO055_SUCCESS)
- ROS_ERROR_STREAM("Error setting gyroscope unit to rad/s.");
+ RCLCPP_ERROR_STREAM(get_logger(),"Error setting gyroscope unit to rad/s.");
if(bno055_set_euler_unit(BNO055_EULER_UNIT_RAD) != BNO055_SUCCESS)
- ROS_ERROR_STREAM("Error setting Euler angles unit to rad.");
+ RCLCPP_ERROR_STREAM(get_logger(),"Error setting Euler angles unit to rad.");
if(bno055_set_temp_unit(BNO055_TEMP_UNIT_CELSIUS) != BNO055_SUCCESS)
- ROS_ERROR_STREAM("Error setting temperature unit to Celsius.");
+ RCLCPP_ERROR_STREAM(get_logger(),"Error setting temperature unit to Celsius.");
if(bno055_set_data_output_format(0x01) != BNO055_SUCCESS)
- ROS_ERROR_STREAM("Error setting data output format.");
+ RCLCPP_ERROR_STREAM(get_logger(),"Error setting data output format.");
if(bno055_set_operation_mode(mode) != BNO055_SUCCESS)
- ROS_ERROR_STREAM("Error setting operation mode.");
+ RCLCPP_ERROR_STREAM(get_logger(),"Error setting operation mode.");
- nh.param("frame_id",frameId_,std::string("imu_link"));
- nh.param("linear_acceleration_stddev",accStdDev_,0.0);
- nh.param("angular_velocity_stddev",gyroStdDev_,0.0);
- nh.param("magnetic_field_stddev",magStdDev_,0.0);
- nh.param("orientation_stddev",orientationStdDev_,0.0);
+ get_parameter_or("frame_id",frameId_,std::string("imu_link"));
+ get_parameter_or("linear_acceleration_stddev",accStdDev_,0.0);
+ get_parameter_or("angular_velocity_stddev",gyroStdDev_,0.0);
+ get_parameter_or("magnetic_field_stddev",magStdDev_,0.0);
+ get_parameter_or("orientation_stddev",orientationStdDev_,0.0);
- dataRawPub_=node_.advertise<sensor_msgs::Imu>("data_raw",100);
- dataPub_=node_.advertise<sensor_msgs::Imu>("data",100);
- temperaturePub_=node_.advertise<sensor_msgs::Temperature>("temperature",100);
- magneticFieldPub_=node_.advertise<sensor_msgs::MagneticField>("mag",100);
- rpyPub_=node_.advertise<geometry_msgs::Vector3Stamped>("rpy",100);
- gravityPub_=node_.advertise<geometry_msgs::Vector3Stamped>("gravity",100);
+ dataRawPub_=create_publisher<sensor_msgs::msg::Imu>("imu/data_raw",100);
+ dataPub_=create_publisher<sensor_msgs::msg::Imu>("imu/data",100);
+ temperaturePub_=create_publisher<sensor_msgs::msg::Temperature>("imu/temperature",100);
+ magneticFieldPub_=create_publisher<sensor_msgs::msg::MagneticField>("imu/mag",100);
+ rpyPub_=create_publisher<geometry_msgs::msg::Vector3Stamped>("imu/rpy",100);
+ gravityPub_=create_publisher<geometry_msgs::msg::Vector3Stamped>("imu/gravity",100);
+
+ using namespace std::chrono_literals;
+ timer_=rclcpp::create_timer(this,this->get_clock(),100ms,std::bind(&Bno055Node::sample,this));
}
Bno055Node::~Bno055Node(void)
{
- dataRawPub_.shutdown();
- dataPub_.shutdown();
- temperaturePub_.shutdown();
- magneticFieldPub_.shutdown();
- rpyPub_.shutdown();
- gravityPub_.shutdown();
-
+ timer_->cancel();
+
if(uart_) BNO055_tty_close(&bno055_);
else BNO055_i2c_close(&bno055_);
}
void Bno055Node::publish(void) const
{
- ros::Time time=ros::Time::now();
+ rclcpp::Time time=now();
- sensor_msgs::Imu dataMsg;
+ sensor_msgs::msg::Imu dataMsg;
dataMsg.header.stamp=time;
dataMsg.header.frame_id=frameId_;
- for (int i=0; i < 9; i++) dataMsg.orientation_covariance[i]=-1.0;
+ for(int i=0; i < 9; i++) dataMsg.orientation_covariance[i]=-1.0;
- tf::vectorEigenToMsg(gyro_,dataMsg.angular_velocity);
+ tf2::toMsg(gyro_,dataMsg.angular_velocity);
for (int i=0; i < 9; i++) dataMsg.angular_velocity_covariance[i]=0.0;
dataMsg.angular_velocity_covariance[0]=sqr(gyroStdDev_);
dataMsg.angular_velocity_covariance[3]=sqr(gyroStdDev_);
dataMsg.angular_velocity_covariance[6]=sqr(gyroStdDev_);
- tf::vectorEigenToMsg(accel_,dataMsg.linear_acceleration);
- for (int i=0; i < 9; i++) dataMsg.linear_acceleration_covariance[i]=0.0;
+ tf2::toMsg(accel_,dataMsg.linear_acceleration);
+ for(int i=0; i < 9; i++) dataMsg.linear_acceleration_covariance[i]=0.0;
dataMsg.linear_acceleration_covariance[0]=sqr(accStdDev_);
dataMsg.linear_acceleration_covariance[3]=sqr(accStdDev_);
dataMsg.linear_acceleration_covariance[6]=sqr(accStdDev_);
- dataRawPub_.publish(dataMsg);
+ dataRawPub_->publish(dataMsg);
- tf::quaternionEigenToMsg(quaternion_,dataMsg.orientation);
- for (int i=0; i < 9; i++) dataMsg.orientation_covariance[i]=0.0;
+ dataMsg.orientation=tf2::toMsg(quaternion_);
+ for(int i=0; i < 9; i++) dataMsg.orientation_covariance[i]=0.0;
dataMsg.orientation_covariance[0]=sqr(orientationStdDev_);
dataMsg.orientation_covariance[3]=sqr(orientationStdDev_);
dataMsg.orientation_covariance[6]=sqr(orientationStdDev_);
- tf::vectorEigenToMsg(linearAccel_,dataMsg.linear_acceleration);
- for (int i=0; i < 9; i++) dataMsg.linear_acceleration_covariance[i]=0.0;
+ tf2::toMsg(linearAccel_,dataMsg.linear_acceleration);
+ for(int i=0; i < 9; i++) dataMsg.linear_acceleration_covariance[i]=0.0;
dataMsg.linear_acceleration_covariance[0]=sqr(accStdDev_);
dataMsg.linear_acceleration_covariance[3]=sqr(accStdDev_);
dataMsg.linear_acceleration_covariance[6]=sqr(accStdDev_);
- dataPub_.publish(dataMsg);
+ dataPub_->publish(dataMsg);
- sensor_msgs::Temperature temperatureMsg;
+ sensor_msgs::msg::Temperature temperatureMsg;
temperatureMsg.header.stamp=time;
temperatureMsg.header.frame_id=frameId_;
temperatureMsg.temperature=temp_;
temperatureMsg.variance=0.0;
- temperaturePub_.publish(temperatureMsg);
+ temperaturePub_->publish(temperatureMsg);
- sensor_msgs::MagneticField magneticFieldMsg;
+ sensor_msgs::msg::MagneticField magneticFieldMsg;
magneticFieldMsg.header.stamp=time;
magneticFieldMsg.header.frame_id=frameId_;
- tf::vectorEigenToMsg(mag_,magneticFieldMsg.magnetic_field);
- for (int i=0; i < 9; i++) magneticFieldMsg.magnetic_field_covariance[i]=0.0;
+ tf2::toMsg(mag_,magneticFieldMsg.magnetic_field);
+ for(int i=0; i < 9; i++) magneticFieldMsg.magnetic_field_covariance[i]=0.0;
magneticFieldMsg.magnetic_field_covariance[0]=sqr(magStdDev_);
magneticFieldMsg.magnetic_field_covariance[3]=sqr(magStdDev_);
magneticFieldMsg.magnetic_field_covariance[6]=sqr(magStdDev_);
- magneticFieldPub_.publish(magneticFieldMsg);
+ magneticFieldPub_->publish(magneticFieldMsg);
- geometry_msgs::Vector3Stamped rpyMsg;
+ geometry_msgs::msg::Vector3Stamped rpyMsg;
rpyMsg.header.stamp=time;
rpyMsg.header.frame_id=frameId_;
- tf::vectorEigenToMsg(rpy_,rpyMsg.vector);
+ tf2::toMsg(rpy_,rpyMsg.vector);
- rpyPub_.publish(rpyMsg);
+ rpyPub_->publish(rpyMsg);
- geometry_msgs::Vector3Stamped gravityMsg;
+ geometry_msgs::msg::Vector3Stamped gravityMsg;
gravityMsg.header.stamp=time;
gravityMsg.header.frame_id=frameId_;
- tf::vectorEigenToMsg(accel_,gravityMsg.vector);
+ tf2::toMsg(accel_,gravityMsg.vector);
- gravityPub_.publish(gravityMsg);
-
+ gravityPub_->publish(gravityMsg);
}
void Bno055Node::sample(void)
accel_ << accel.x/BNO055_ACCEL_DIV_MSQ,
accel.y/BNO055_ACCEL_DIV_MSQ,
accel.z/BNO055_ACCEL_DIV_MSQ;
- else ROS_ERROR_STREAM("Error reading acceleration.");
+ else RCLCPP_ERROR_STREAM(get_logger(),"Error reading acceleration.");
struct bno055_mag_t mag;
if(bno055_read_mag_xyz(&mag) == BNO055_SUCCESS)
mag_ << mag.x/BNO055_MAG_DIV_UT*1e-6,
mag.y/BNO055_MAG_DIV_UT*1e-6,
mag.z/BNO055_MAG_DIV_UT*1e-6;
- else ROS_ERROR_STREAM("Error reading magnetometer.");
+ else RCLCPP_ERROR_STREAM(get_logger(),"Error reading magnetometer.");
struct bno055_gyro_t gyro;
if(bno055_read_gyro_xyz(&gyro) == BNO055_SUCCESS)
gyro_ << gyro.x/BNO055_GYRO_DIV_RPS,
gyro.y/BNO055_GYRO_DIV_RPS,
gyro.z/BNO055_GYRO_DIV_RPS;
- else ROS_ERROR_STREAM("Error reading gyroscope.");
+ else RCLCPP_ERROR_STREAM(get_logger(),"Error reading gyroscope.");
struct bno055_euler_t euler;
if(bno055_read_euler_hrp(&euler) == BNO055_SUCCESS)
rpy_ << euler.r/BNO055_EULER_DIV_RAD,
euler.p/BNO055_EULER_DIV_RAD,
euler.h/BNO055_EULER_DIV_RAD;
- else ROS_ERROR_STREAM("Error reading Euler angles.\n");
+ else RCLCPP_ERROR_STREAM(get_logger(),"Error reading Euler angles.\n");
s8 temp;
if(bno055_read_temp_data(&temp) == BNO055_SUCCESS)
temp_=temp/BNO055_TEMP_DIV_CELSIUS;
- else ROS_ERROR_STREAM("Error reading temperature.");
+ else RCLCPP_ERROR_STREAM(get_logger(),"Error reading temperature.");
struct bno055_quaternion_t quaternion;
if(bno055_read_quaternion_wxyz(&quaternion) == BNO055_SUCCESS)
quaternion_.y()=quaternion.y/BNO055_QUATERNION_DIV;
quaternion_.z()=quaternion.z/BNO055_QUATERNION_DIV;
}
- else ROS_ERROR_STREAM("Error reading quaternion.");
+ else RCLCPP_ERROR_STREAM(get_logger(),"Error reading quaternion.");
struct bno055_linear_accel_t linearAccel;
if(bno055_read_linear_accel_xyz(&linearAccel) == BNO055_SUCCESS)
linearAccel_ << linearAccel.x/BNO055_LINEAR_ACCEL_DIV_MSQ,
linearAccel.y/BNO055_LINEAR_ACCEL_DIV_MSQ,
linearAccel.z/BNO055_LINEAR_ACCEL_DIV_MSQ;
- else ROS_ERROR_STREAM("Error reading linear acceleration.");
+ else RCLCPP_ERROR_STREAM(get_logger(),"Error reading linear acceleration.");
struct bno055_gravity_t gravity;
if(bno055_read_gravity_xyz(&gravity) == BNO055_SUCCESS)
gravity_ << gravity.x/BNO055_GRAVITY_DIV_MSQ,
gravity.y/BNO055_GRAVITY_DIV_MSQ,
gravity.z/BNO055_GRAVITY_DIV_MSQ;
- else ROS_ERROR_STREAM("Error reading gravity.");
+ else RCLCPP_ERROR_STREAM(get_logger(),"Error reading gravity.");
+
+ publish();
}
int main(int argc,char* argv[])
{
- ros::init(argc,argv,"bno055_node");
- ros::NodeHandle node("imu");
+ rclcpp::init(argc,argv);
- Bno055Node bno055Node(node);
-
- ros::Rate loop(100);
- while(ros::ok())
- {
- bno055Node.sample();
- bno055Node.publish();
-
- ros::spinOnce();
- loop.sleep();
- }
+ rclcpp::spin(std::make_shared<Bno055Node>());
+
+ rclcpp::shutdown();
return 0;
}
+
projects / bno055_driver.git / commitdiff