From: Walter Fetter Lages Date: Sat, 5 Dec 2020 02:36:47 +0000 (-0300) Subject: Initial commit. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=abfc9faf58f05145e86e10d126bccde586f68578;p=imu_odometry.git Initial commit. --- abfc9faf58f05145e86e10d126bccde586f68578 diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..c1edc29 --- /dev/null +++ b/.gitignore @@ -0,0 +1,51 @@ +devel/ +logs/ +build/ +bin/ +lib/ +msg_gen/ +srv_gen/ +msg/*Action.msg +msg/*ActionFeedback.msg +msg/*ActionGoal.msg +msg/*ActionResult.msg +msg/*Feedback.msg +msg/*Goal.msg +msg/*Result.msg +msg/_*.py +build_isolated/ +devel_isolated/ + +# Generated by dynamic reconfigure +*.cfgc +/cfg/cpp/ +/cfg/*.py + +# Ignore generated docs +#*.dox +*.wikidoc + +# eclipse stuff +.project +.cproject + +# qcreator stuff +CMakeLists.txt.user + +srv/_*.py +*.pcd +*.pyc +qtcreator-* +*.user + +/planning/cfg +/planning/docs +/planning/src + +*~ + +# Emacs +.#* + +# Catkin custom files +CATKIN_IGNORE diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..f2c2fd3 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,204 @@ +cmake_minimum_required(VERSION 2.8.3) +project(imu_odometry) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +## 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 +# nav_msgs + roscpp + sensor_msgs + tf +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) +#find_package(Eigen3 REQUIRED) + + +## 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 +# nav_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 imu_odometry +# CATKIN_DEPENDS nav_msgs roscpp sensor_msgs tf +# 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 (Eigen) +# ${Eigen3_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/imu_odometry.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +add_executable(imu2tf src/imu2tf.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${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(imu2tf + ${catkin_LIBRARIES} +# ${Eigen3_LIBRARIES} +) + +############# +## 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 +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${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_imu_odometry.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) diff --git a/launch/display.launch b/launch/display.launch new file mode 100644 index 0000000..d2c5a5b --- /dev/null +++ b/launch/display.launch @@ -0,0 +1,18 @@ + + + + + + + + + + diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..59bb9da --- /dev/null +++ b/package.xml @@ -0,0 +1,81 @@ + + + imu_odometry + 0.0.0 + The imu_odometry package + + + + + Walter Fetter Lages + + + + + + GPLv3 + + + + + + + + + + + + + Walter Fetter Lages + + + + + + + + + + + + + + + + + + + + + + + catkin + + roscpp + sensor_msgs + tf + + roscpp + sensor_msgs + tf + + roscpp + sensor_msgs + tf + + + + + + + + diff --git a/rviz/imu2tf.rviz b/rviz/imu2tf.rviz new file mode 100644 index 0000000..b6d695a --- /dev/null +++ b/rviz/imu2tf.rviz @@ -0,0 +1,219 @@ +Panels: + - Class: rviz/Displays + Help Height: 70 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /RobotModel1/Links1 + - /RobotModel1/Links1/base_link1 + Splitter Ratio: 0.37254902720451355 + Tree Height: 566 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: true + Show Trail: false + Value: true + origin_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: false + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: fluid_pressure + Class: rviz/FluidPressure + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 105000 + Min Color: 0; 0; 0 + Min Intensity: 98000 + Name: FluidPressure + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.20000000298023224 + Style: Flat Squares + Topic: /android/barometric_pressure + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: false + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: illuminance + Class: rviz/Illuminance + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 1000 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Illuminance + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.30000001192092896 + Style: Flat Squares + Topic: /android/illuminance + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0 + Class: rviz_plugin_tutorials/Imu + Color: 204; 51; 204 + Enabled: false + History Length: 1 + Name: Imu + Topic: /android/imu + Unreliable: false + Value: false + - Class: rviz/Axes + Enabled: true + Length: 0.10000000149011612 + Name: Axes + Radius: 0.009999999776482582 + Reference Frame: + Value: true + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.7528845071792603 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.04801877215504646 + Y: 0.2480122596025467 + Z: 0.626509428024292 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.35539859533309937 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.703586578369141 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1258 + X: 32 + Y: 0 diff --git a/src/imu2tf.cpp b/src/imu2tf.cpp new file mode 100644 index 0000000..0bb2543 --- /dev/null +++ b/src/imu2tf.cpp @@ -0,0 +1,86 @@ +/****************************************************************************** + ROS IMU to tf Converter + Copyright (C) 2018 Walter Fetter Lages + + 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 + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, but + WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see + . + +*******************************************************************************/ + +#include + +#include +#include + +class ImuToTf +{ + public: + ImuToTf(const ros::NodeHandle &node,const char *child_frame_id); + ~ImuToTf(void); + + private: + ros::NodeHandle node_; + ros::Subscriber imuSubscriber_; + ros::Publisher tfPublisher_; + std::string frame_id_; + void imuCB(const sensor_msgs::Imu::ConstPtr &imuMsg) const; +}; + +ImuToTf::ImuToTf(const ros::NodeHandle &node,const char *frame_id) +{ + node_=node; + frame_id_=frame_id; + imuSubscriber_=node_.subscribe("imu/data",10,&ImuToTf::imuCB,this); + tfPublisher_=node_.advertise("/tf",10); +} + +ImuToTf::~ImuToTf(void) +{ + imuSubscriber_.shutdown(); + tfPublisher_.shutdown(); +} + +void ImuToTf::imuCB(const sensor_msgs::Imu::ConstPtr &imuMsg) const +{ + tf::tfMessage tfMsg; + + tfMsg.transforms.resize(1); + tfMsg.transforms[0].header.stamp=imuMsg->header.stamp; + tfMsg.transforms[0].header.frame_id=frame_id_; + tfMsg.transforms[0].child_frame_id=imuMsg->header.frame_id;; + tfMsg.transforms[0].transform.translation.x=0.0; + tfMsg.transforms[0].transform.translation.y=0.0; + tfMsg.transforms[0].transform.translation.z=0.0; + tfMsg.transforms[0].transform.rotation=imuMsg->orientation; + + tfPublisher_.publish(tfMsg); +} + +int main(int argc,char* argv[]) +{ + ros::init(argc,argv,"imu2tf"); + ros::NodeHandle node; + + if(argc != 2) + { + ROS_ERROR_STREAM("imu2tf: No base frame id.\n"); + return -1; + } + + ImuToTf imuToTf(node,argv[1]); + + ros::spin(); + + return 0; +}