From: Walter Fetter Lages Date: Thu, 22 Nov 2018 21:42:12 +0000 (-0200) Subject: Initial commit. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;p=hp_accel.git Initial commit. --- bbb431e6269e68feb99779fee6dc01332e2c86d8 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..574e694 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,201 @@ +cmake_minimum_required(VERSION 2.8.3) +project(hp_accel) + +## 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 + roscpp + sensor_msgs +) + +## 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 +# 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 hp_accel +# CATKIN_DEPENDS 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/${PROJECT_NAME}/hp_accel.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +add_executable(${PROJECT_NAME} src/hp_accel.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} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +target_link_libraries(${PROJECT_NAME} + ${catkin_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_hp_accel.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/doc/wgs84fin.pdf b/doc/wgs84fin.pdf new file mode 100644 index 0000000..a542638 Binary files /dev/null and b/doc/wgs84fin.pdf differ diff --git a/launch/display.launch b/launch/display.launch new file mode 100644 index 0000000..870a72f --- /dev/null +++ b/launch/display.launch @@ -0,0 +1,9 @@ + + + + + diff --git a/launch/hp_accel.launch b/launch/hp_accel.launch new file mode 100644 index 0000000..162c949 --- /dev/null +++ b/launch/hp_accel.launch @@ -0,0 +1,3 @@ + + + diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..42ec437 --- /dev/null +++ b/package.xml @@ -0,0 +1,69 @@ + + + hp_accel + 0.0.0 + The hp_accel package + + + + + Walter Fetter Lages + + + + + + GPLv3 + + + + + + + + + + + + + Walter Fetter Lages + + + + + + + + + + + + + + + + + + + + + + + catkin + Eigen3 + roscpp + sensor_msgs + Eigen3 + roscpp + sensor_msgs + Eigen3 + roscpp + sensor_msgs + + + + + + + + diff --git a/rviz/display.rviz b/rviz/display.rviz new file mode 100644 index 0000000..a699f0e --- /dev/null +++ b/rviz/display.rviz @@ -0,0 +1,125 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Imu1 + Splitter Ratio: 0.5 + Tree Height: 558 + - 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: 30 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_plugin_tutorials/Imu + Color: 204; 51; 204 + Enabled: true + History Length: 1 + Name: Imu + Topic: /hp_accel + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + 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: 38.89796447753906 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398006439209 + 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: 1200 + X: 56 + Y: 37 diff --git a/src/hp_accel.cpp b/src/hp_accel.cpp new file mode 100644 index 0000000..a90e9dc --- /dev/null +++ b/src/hp_accel.cpp @@ -0,0 +1,131 @@ +/****************************************************************************** + ROS hp_accel Package + IMU Publisher Node + 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 +using namespace std; + +#include +#include + +#include +using namespace Eigen; + +#define LAT_PORTO_ALEGRE (30.0346*M_PI/180.0) +#define sqr(x) (x*x) + +class ImuPublisher +{ + public: + ImuPublisher(ros::NodeHandle node); + ~ImuPublisher(void); + void sample(void); + void publish(void) const; + + private: + ros::NodeHandle node_; + ros::Publisher imuPub_; + Vector3d acc_; + ifstream accFile_; + double g(double lat) const; +}; + +ImuPublisher::ImuPublisher(ros::NodeHandle node): + accFile_("/sys/devices/platform/lis3lv02d/position") +{ + node_=node; + + imuPub_=node_.advertise("hp_accel",100); +} + +ImuPublisher::~ImuPublisher(void) +{ + imuPub_.shutdown(); + accFile_.close(); +} + +void ImuPublisher::publish(void) const +{ + ros::Time time=ros::Time::now(); + + sensor_msgs::Imu imuMsg; + imuMsg.header.stamp=time; + imuMsg.header.frame_id="hp_accel"; + + imuMsg.orientation_covariance[0]=-1; // No orientation + imuMsg.angular_velocity_covariance[0]=-1; // No angular velocity + imuMsg.linear_acceleration.x=acc_[0]; + imuMsg.linear_acceleration.y=acc_[1]; + imuMsg.linear_acceleration.z=acc_[2]; + for (int i=0; i < 9; i++) imuMsg.linear_acceleration_covariance[i]=0.0; + imuMsg.linear_acceleration_covariance[0]=sqr(0.1*g(LAT_PORTO_ALEGRE)); + imuMsg.linear_acceleration_covariance[3]=sqr(0.1*g(LAT_PORTO_ALEGRE)); + imuMsg.linear_acceleration_covariance[6]=sqr(0.1*g(LAT_PORTO_ALEGRE)); + + imuPub_.publish(imuMsg); +} + +/* +WGS84 Ellipsoidal Gravity Formula + +Department of Defense World Geodetic System 1984 - Its Definition and + Relationships with Local Geodetic Systems,NIMA TR8350.2, 3rd ed., Tbl. + 3.4, Eq. 4-1 +*/ +double ImuPublisher::g(double lat) const +{ + return 9.7803253359*(1+0.00193185215241*sin(lat)*sin(lat))/sqrt(1-0.00669437999013*sin(lat)*sin(lat)); +} + +void ImuPublisher::sample(void) +{ + char accStr[80]; + accFile_.getline(accStr,sizeof(accStr)); + accFile_.seekg(0); + + int accInt[3]; + sscanf(accStr,"(%d,%d,%d)",&accInt[0],&accInt[1],&accInt[2]); + Vector3d accG(accInt[0],accInt[1],accInt[2]); + acc_=accG*1e-3*g(30*M_PI/180); +} + +int main(int argc,char* argv[]) +{ + ros::init(argc,argv,"hp_accel"); + ros::NodeHandle node; + + ImuPublisher imuPublisher(node); + + ifstream rateFile("/sys/devices/platform/lis3lv02d/rate"); + int rate; + rateFile >> rate; + rateFile.close(); + + ros::Rate loop(rate); + while(ros::ok()) + { + imuPublisher.sample(); + imuPublisher.publish(); + + ros::spinOnce(); + loop.sleep(); + } + return 0; +}