From: Walter Fetter Lages Date: Thu, 1 Sep 2022 07:24:29 +0000 (-0300) Subject: Port to Humble. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=acdedcf7bd236db91d70de1f668c3c658c4535d3;p=bno055_driver.git Port to Humble. --- diff --git a/CMakeLists.txt b/CMakeLists.txt index f06218e..4cbd48e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,225 +1,55 @@ -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 + $ + $ + $) +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() diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/rviz/display.rviz b/config/display.rviz similarity index 56% rename from rviz/display.rviz rename to config/display.rviz index 99d793f..de38ea9 100644 --- a/rviz/display.rviz +++ b/config/display.rviz @@ -1,40 +1,41 @@ Panels: - - Class: rviz/Displays + - Class: rviz_common/Displays Help Height: 78 Name: Displays Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.4301801919937134 - Tree Height: 555 - - Class: rviz/Selection + Expanded: + - /Global Options1 + - /Status1 + - /Axes (map)1 + - /Axes (enu_link)1 + - /Axes (imu_link)1 + - /Temperature1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz_common/Selection Name: Selection - - Class: rviz/Tool Properties + - Class: rviz_common/Tool Properties Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 + - /2D Goal Pose1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views + - Class: rviz_common/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz/Time + - Class: rviz_common/Time Experimental: false Name: Time SyncMode: 0 SyncSource: Temperature -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 Visualization Manager: Class: "" Displays: - Alpha: 0.5 Cell Size: 1 - Class: rviz/Grid + Class: rviz_default_plugins/Grid Color: 160; 160; 164 Enabled: true Line Style: @@ -50,44 +51,21 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: Value: true - - Alpha: 1 - Class: rviz_plugin_tutorials/Imu - Color: 204; 51; 204 - Enabled: true - History Length: 1 - Name: Imu (data) - Queue Size: 10 - Topic: /imu/data - Unreliable: false - Value: true - - Alpha: 0.10000000149011612 - Class: rviz_plugin_tutorials/Imu - Color: 57; 52; 204 - Enabled: true - History Length: 1 - Name: Imu (raw data) - Queue Size: 10 - Topic: /imu/data_raw - Unreliable: false - Value: true - - Alpha: 1 - Class: rviz/Axes + - Class: rviz_default_plugins/Axes Enabled: true Length: 5 - Name: Axes (Fixed Frame) + Name: Axes (map) Radius: 0.10000000149011612 - Reference Frame: + Reference Frame: map Value: true - - Alpha: 1 - Class: rviz/Axes + - Class: rviz_default_plugins/Axes Enabled: true Length: 5 Name: Axes (enu_link) Radius: 0.10000000149011612 Reference Frame: enu_link Value: true - - Alpha: 1 - Class: rviz/Axes + - Class: rviz_default_plugins/Axes Enabled: true Length: 5 Name: Axes (imu_link) @@ -102,7 +80,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: temperature - Class: rviz/Temperature + Class: rviz_default_plugins/Temperature Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 @@ -114,55 +92,76 @@ Visualization Manager: Min Intensity: 0 Name: Temperature Position Transformer: XYZ - Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 1 Style: Flat Squares - Topic: /imu/temperature - Unreliable: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /imu/temperature Use Fixed Frame: true Use rainbow: true Value: true Enabled: true Global Options: - Background Color: 249; 249; 249 - Default Light: true + Background Color: 255; 255; 255 Fixed Frame: map Frame Rate: 30 Name: root Tools: - - Class: rviz/Interact + - Class: rviz_default_plugins/Interact Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint Single click: true - Topic: /clicked_point + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF Value: true Views: Current: - Class: rviz/Orbit - Distance: 24.478668212890625 + Class: rviz_default_plugins/Orbit + Distance: 18.14019012451172 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false - Field of View: 0.7853981852531433 Focal Point: - X: -1.5147979259490967 - Y: -1.228423833847046 - Z: 1.93975031375885 + X: 0 + Y: 0 + Z: 0 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false @@ -170,6 +169,7 @@ Visualization Manager: Near Clip Distance: 0.009999999776482582 Pitch: 0.785398006439209 Target Frame: + Value: Orbit (rviz) Yaw: 0.785398006439209 Saved: ~ Window Geometry: @@ -178,7 +178,7 @@ Window Geometry: Height: 846 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000001ba000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000100000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055c0000003efc0100000002fb0000000800540069006d006501000000000000055c0000023f00fffffffb0000000800540069006d0065010000000000000450000000000000000000000296000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000026300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -187,6 +187,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1372 - X: 4 - Y: 0 + Width: 1200 + X: 622 + Y: 87 diff --git a/launch/bno055.launch b/launch/bno055.launch deleted file mode 100644 index 4e12657..0000000 --- a/launch/bno055.launch +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/launch/bno055.launch.xml b/launch/bno055.launch.xml new file mode 100644 index 0000000..7fe32ce --- /dev/null +++ b/launch/bno055.launch.xml @@ -0,0 +1,27 @@ + + + + + + + + \ No newline at end of file diff --git a/launch/display.launch b/launch/display.launch deleted file mode 100644 index 0b8ab24..0000000 --- a/launch/display.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - diff --git a/launch/display.launch.xml b/launch/display.launch.xml new file mode 100644 index 0000000..9882f30 --- /dev/null +++ b/launch/display.launch.xml @@ -0,0 +1,29 @@ + + + + + + + + diff --git a/package.xml b/package.xml index 33a514d..114160e 100644 --- a/package.xml +++ b/package.xml @@ -1,78 +1,25 @@ - + + bno055_driver - 0.1.0 - The bno055_driver package - - - - + 2.0.0 + BNO055 driver Walter Fetter Lages + GPL-3.0-only + ament_cmake - - - - GPLv3 - - - - - - - + rclcpp + Eigen3 + bno055 + tf2_eigen + geometry_msgs + sensor_msgs - - - - - Walter Feter Lages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - catkin - Eigen3 - bno055 - eigen_conversions - geometry_msgs - roscpp - sensor_msgs - Eigen3 - bno055 - eigen_conversions - geometry_msgs - roscpp - sensor_msgs - Eigen3 - bno055 - eigen_conversions - geometry_msgs - roscpp - sensor_msgs - - - - - + ament_cmake diff --git a/src/bno055_node.cpp b/src/bno055_node.cpp index 2dad386..f44d816 100644 --- a/src/bno055_node.cpp +++ b/src/bno055_node.cpp @@ -1,7 +1,7 @@ /****************************************************************************** ROS BNO055 Driver BNO055 IMU Publisher Node - Copyright (C) 2019 Walter Fetter Lages + Copyright (C) 2019, 2022 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 @@ -23,46 +23,44 @@ #include #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include -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::SharedPtr dataRawPub_; + rclcpp::Publisher::SharedPtr dataPub_; + rclcpp::Publisher::SharedPtr temperaturePub_; + rclcpp::Publisher::SharedPtr magneticFieldPub_; + rclcpp::Publisher::SharedPtr rpyPub_; + rclcpp::Publisher::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_; @@ -72,31 +70,33 @@ class Bno055Node 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); } } @@ -105,147 +105,144 @@ Bno055Node::Bno055Node(ros::NodeHandle node): uart_(false) 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("data_raw",100); - dataPub_=node_.advertise("data",100); - temperaturePub_=node_.advertise("temperature",100); - magneticFieldPub_=node_.advertise("mag",100); - rpyPub_=node_.advertise("rpy",100); - gravityPub_=node_.advertise("gravity",100); + dataRawPub_=create_publisher("imu/data_raw",100); + dataPub_=create_publisher("imu/data",100); + temperaturePub_=create_publisher("imu/temperature",100); + magneticFieldPub_=create_publisher("imu/mag",100); + rpyPub_=create_publisher("imu/rpy",100); + gravityPub_=create_publisher("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) @@ -255,33 +252,33 @@ 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) @@ -291,38 +288,32 @@ void Bno055Node::sample(void) 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()); + + rclcpp::shutdown(); return 0; } +