From: Walter Fetter Lages Date: Mon, 30 Sep 2019 15:55:32 +0000 (-0300) Subject: Initial commit. X-Git-Tag: f1^0 X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=dc0c2f9eab31e3e15475916600107fc73957ea0b;p=imufusion_ros.git Initial commit. --- dc0c2f9eab31e3e15475916600107fc73957ea0b 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..4a6752c --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,208 @@ +cmake_minimum_required(VERSION 2.8.3) +project(imufusion_ros) + +## 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 + geometry_msgs +# imufusion + roscpp + sensor_msgs + eigen_conversions +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + +add_library(imufusion STATIC IMPORTED) # or STATIC instead of SHARED +set_target_properties(imufusion PROPERTIES + IMPORTED_LOCATION "$ENV{HOME}/lib/libimufusion.a" + INTERFACE_INCLUDE_DIRECTORIES "$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 imufusion_ros +# CATKIN_DEPENDS geometry_msgs imufusion roscpp sensor_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/imufusion_ros.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +add_executable(ekf src/ekf.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${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(ekf + ${catkin_LIBRARIES} + imufusion +) + +############# +## 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_imufusion_ros.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/package.xml b/package.xml new file mode 100644 index 0000000..5245c24 --- /dev/null +++ b/package.xml @@ -0,0 +1,75 @@ + + + imufusion_ros + 0.0.0 + The imufusion_ros package + + + + + Walter Fetter Lages + + + + + + GPLv3 + + + + + + + + + + + + + Walter Fetter Lages + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + imufusion + roscpp + sensor_msgs + eigen_convertions + geometry_msgs + imufusion + roscpp + sensor_msgs + eigen_convertions + geometry_msgs + imufusion + roscpp + sensor_msgs + eigen_convertions + + + + + + + + diff --git a/src/ekf.cpp b/src/ekf.cpp new file mode 100644 index 0000000..80490ab --- /dev/null +++ b/src/ekf.cpp @@ -0,0 +1,189 @@ +/****************************************************************************** + IMU Fusion Library ROS Wrapper + Extended Kalman Filter + Copyright (C) 2019 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 + +#include + +#include + +class EkfNode +{ + public: + EkfNode(const ros::NodeHandle &node,const char *frameId); + ~EkfNode(void); + void update(void); + void publish(void); + + private: + ros::NodeHandle node_; + ros::Subscriber imuSubscriber_; + ros::Subscriber magSubscriber_; + ros::Publisher imuPublisher_; + std::string frameId_; + + Eigen::Vector3d accel_; + Eigen::Vector3d mag_; + Eigen::Vector3d gyro_; + + Eigen::Matrix3d accelCovariance_; + Eigen::Matrix3d magCovariance_; + Eigen::Matrix3d gyroCovariance_; + + imufusion::Ekf *ekf; + + void imuCB(const sensor_msgs::Imu::ConstPtr &imuMsg); + void magCB(const sensor_msgs::MagneticField::ConstPtr &magMsg); + + public: + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +EkfNode::EkfNode(const ros::NodeHandle &node,const char *frameId) +{ + node_=node; + frameId_=frameId; + imuSubscriber_=node_.subscribe("imu/data_raw",10,&EkfNode::imuCB,this); + magSubscriber_=node_.subscribe("imu/mag",10,&EkfNode::magCB,this); + imuPublisher_=node_.advertise("imu/data",10); + + Eigen::Quaterniond q0; + q0.setIdentity(); + + Eigen::MatrixXd P0(7,7); + P0.setIdentity(); + std::vector P0Diag; + if(node_.getParam("P",P0Diag)) + { + Eigen::Map diag(P0Diag.data(),P0.rows()); + P0=diag.asDiagonal(); + } + else P0*=1e-5; + + Eigen::MatrixXd Pw(7,7); + Pw.setIdentity(); + std::vector PwDiag; + ros::NodeHandle nh("~"); + if(node_.getParam("/ekf/Pw",PwDiag)) + { + Eigen::Map diag(PwDiag.data(),Pw.rows()); + Pw=diag.asDiagonal(); + } + else Pw*=1e-3*1e-3; + + Eigen::MatrixXd Pv(6,6); + Pv.setIdentity(); + std::vector PvDiag; + if(nh.getParam("Pv",PvDiag)) + { + Eigen::Map diag(PvDiag.data(),Pv.rows()); + Pv=diag.asDiagonal(); + } + else Pv*=1e-3*1e-3; + + const double T=0.02; // 0.01 is too fast for an UART at 115200 bps + + ekf=new imufusion::Ekf(q0,P0,Pw,Pv,T); +} + +EkfNode::~EkfNode(void) +{ + imuSubscriber_.shutdown(); + magSubscriber_.shutdown(); + imuPublisher_.shutdown(); + + delete ekf; +} + +void EkfNode::imuCB(const sensor_msgs::Imu::ConstPtr &imuMsg) +{ + tf::vectorMsgToEigen(imuMsg->linear_acceleration,accel_); + tf::vectorMsgToEigen(imuMsg->angular_velocity,gyro_); + for(int i=0;i < 3;i++) for(int j=0;j < 3;j++) + { + accelCovariance_(i,j)=imuMsg->linear_acceleration_covariance[i*3+j]; + gyroCovariance_(i,j)=imuMsg->angular_velocity_covariance[i*3+j]; + } +} + +void EkfNode::magCB(const sensor_msgs::MagneticField::ConstPtr &magMsg) +{ + tf::vectorMsgToEigen(magMsg->magnetic_field,mag_); + for(int i=0;i < 3;i++) for(int j=0;j < 3;j++) + magCovariance_(i,j)=magMsg->magnetic_field_covariance[i*3+j]; +} + +void EkfNode::update(void) +{ + ekf->update(accel_,mag_,gyro_); +} + +void EkfNode::publish(void) +{ + ros::Time time=ros::Time::now(); + + sensor_msgs::Imu dataMsg; + dataMsg.header.stamp=time; + dataMsg.header.frame_id=frameId_; + + tf::quaternionEigenToMsg(ekf->quaternion(),dataMsg.orientation); + tf::vectorEigenToMsg(gyro_,dataMsg.angular_velocity); + tf::vectorEigenToMsg(accel_,dataMsg.linear_acceleration); + + Eigen::MatrixXd orientationCovariance=ekf->covariance(); + for(int i=0;i < 3;i++) for(int j=0;j < 3;j++) + { + dataMsg.orientation_covariance[i*3+j]=orientationCovariance(i,j); + dataMsg.linear_acceleration_covariance[i*3+j]=accelCovariance_(i,j); + dataMsg.angular_velocity_covariance[i*3+j]=gyroCovariance_(i,j); + } + + imuPublisher_.publish(dataMsg); +} + +int main(int argc,char* argv[]) +{ + ros::init(argc,argv,"ekf"); + ros::NodeHandle node; + + if(argc != 2) + { + ROS_ERROR_STREAM("ekf: No base frame id.\n"); + return -1; + } + + EkfNode ekfNode(node,argv[1]); + + ros::Rate loop(50); + while(ros::ok()) + { + ekfNode.update(); + ekfNode.publish(); + + ros::spinOnce(); + loop.sleep(); + } + return 0; +}