diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml new file mode 100644 index 0000000000000000000000000000000000000000..3ae6df78e82d0129570c877f4be2e0d5ac796c7e --- /dev/null +++ b/.gitlab-ci.yml @@ -0,0 +1,208 @@ +stages: + - license + - build_and_test + - demos + +############ YAML ANCHORS ############ +.preliminaries_template: &preliminaries_definition + ## Install ssh-agent if not already installed, it is required by Docker. + ## (change apt-get to yum if you use an RPM-based image) + - 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )' + + ## Run ssh-agent (inside the build environment) + - eval $(ssh-agent -s) + + ## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store + ## We're using tr to fix line endings which makes ed25519 keys work + ## without extra base64 encoding. + ## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556 + - mkdir -p ~/.ssh + - chmod 700 ~/.ssh + - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null + # - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts + - ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts + + # update apt + - apt-get update + + # create ci_deps folder (if not exists) + - mkdir -pv ci_deps + + # manually source ros setup.bash + - source /root/catkin_ws/devel/setup.bash + - roscd # check that it works + +.license_header_template: &license_header_definition + - cd $CI_PROJECT_DIR + + # configure git + - export CI_NEW_BRANCH=ci_processing$RANDOM + - echo creating new temporary branch... $CI_NEW_BRANCH + - git config --global user.email "${CI_EMAIL}" + - git config --global user.name "${CI_USERNAME}" + - git checkout -b $CI_NEW_BRANCH # temporary branch + + # license headers + - export CURRENT_YEAR=$( date +'%Y' ) + - echo "current year:" ${CURRENT_YEAR} + - if [ -f license_header_${CURRENT_YEAR}.txt ]; then + # add license headers to new files + - echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..." + - ./ci_deps/wolf/wolf_scripts/license_manager.sh --add --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps + - else + # update license headers of all files + - export PREV_YEAR=$(( CURRENT_YEAR-1 )) + - echo "Creating new file license_header_${CURRENT_YEAR}.txt..." + - git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt + - sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt + - ./ci_deps/wolf/wolf_scripts/license_manager.sh --update --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps + - fi + + # push changes (if any) + - if git commit -a -m "[skip ci] license headers added or modified" ; then + - git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git" + - git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME} + - else + - echo "No changes, nothing to commit!" + - fi + +.install_wolf_template: &install_wolf_definition + - cd ${CI_PROJECT_DIR}/ci_deps + - if [ -d wolf ]; then + - echo "directory wolf exists" + - cd wolf + - git checkout devel + - git pull + - git checkout $WOLF_CORE_BRANCH + - git pull + - else + - git clone -b $WOLF_CORE_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git + - cd wolf + - fi + - mkdir -pv build + - cd build + - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_DEMOS=OFF -DBUILD_TESTS=OFF .. + - make -j$(nproc) + - make install + +.install_gnssutils_template: &install_gnssutils_definition + - cd ${CI_PROJECT_DIR}/ci_deps + - if [ -d gnss_utils ]; then + - echo "directory gnss_utils exists" + - cd gnss_utils + - git pull + - else + - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/gauss_project/gnss_utils.git + - cd gnss_utils + - git submodule update --init + - fi + - mkdir -pv build + - cd build + - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=OFF .. + - make -j$(nproc) + - make install + +.install_wolfgnss_template: &install_wolfgnss_definition + - cd ${CI_PROJECT_DIR}/ci_deps + - if [ -d gnss ]; then + - echo "directory gnss exists" + - cd gnss + - git checkout devel + - git pull + - git checkout $WOLF_GNSS_BRANCH + - git pull + - else + - git clone -b $WOLF_GNSS_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/gnss.git + - cd gnss + - fi + - mkdir -pv build + - cd build + - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=OFF .. + - make -j$(nproc) + - make install + +.clone_wolfrosnode_template: &clone_wolfrosnode_definition + - roscd + - cd ../src + - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git + - cd wolf_ros_node + - git checkout $WOLF_ROS_CORE_BRANCH + +.build_and_test_template: &build_and_test_definition + - roscd + - cd ../src + - git clone ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git + - cd wolf_ros_gnss + - git checkout $CI_COMMIT_BRANCH + - cd ../.. + - catkin_make + +############ LICENSE HEADERS ############ +license_headers: + stage: license + image: labrobotica/wolf_deps_ros:20.04 + cache: [] + before_script: + - *preliminaries_definition + - *install_wolf_definition + script: + - *license_header_definition + +############ UBUNTU 18.04 TEST ############ +build_and_test:bionic: + stage: build_and_test + image: labrobotica/wolf_deps_ros:18.04 + cache: + - key: wolf-bionic + paths: + - ci_deps/wolf/ + - key: gnssutils-bionic + paths: + - ci_deps/gnss_utils/ + - key: gnss-bionic + paths: + - ci_deps/gnss/ + before_script: + - *preliminaries_definition + - *install_wolf_definition + - *install_gnssutils_definition + - *install_wolfgnss_definition + - *clone_wolfrosnode_definition + - ldconfig + script: + - *build_and_test_definition + +############ UBUNTU 20.04 TEST ############ +build_and_test:focal: + stage: build_and_test + image: labrobotica/wolf_deps_ros:20.04 + cache: + - key: wolf-focal + paths: + - ci_deps/wolf/ + - key: gnssutils-focal + paths: + - ci_deps/gnss_utils/ + - key: gnss-focal + paths: + - ci_deps/gnss/ + before_script: + - *preliminaries_definition + - *install_wolf_definition + - *install_gnssutils_definition + - *install_wolfgnss_definition + - *clone_wolfrosnode_definition + - ldconfig + script: + - *build_and_test_definition + +############ RUN DEMOS ############ +demo_gnss: + stage: demos + variables: + WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH + WOLF_GNSS_BRANCH: $WOLF_GNSS_BRANCH + WOLF_ROS_CORE_BRANCH: $WOLF_ROS_CORE_BRANCH + WOLF_ROS_GNSS_BRANCH: $CI_COMMIT_BRANCH + trigger: + project: mobile_robotics/wolf_projects/wolf_ros/demos/wolf_demo_gnss_imu diff --git a/CMakeLists.txt b/CMakeLists.txt index f09930c24466631f9aa754d72cf148aac9aee461..3de46d0c3ee9c5b1a95b720b9394e590c3581b16 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3) project(wolf_ros_gnss) ## Compile as C++11, supported in ROS Kinetic and newer -add_compile_options(-std=c++11) +add_compile_options(-std=c++14) # SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/wolf_ros_wrapper/cmake_modules") ## Find catkin macros and libraries @@ -11,18 +11,19 @@ add_compile_options(-std=c++11) find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs - iri_gnss_msgs std_msgs tf + tf_conversions dynamic_reconfigure wolf_ros_node ) +# OPTIONAL PACKAGES +find_package(iri_gnss_msgs QUIET) +find_package(novatel_oem7_msgs QUIET) + ## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) -# find_package(Ceres REQUIRED) -# find_package(Eigen3 REQUIRED) -find_package(wolf REQUIRED) +find_package(wolfcore REQUIRED) find_package(wolfgnss REQUIRED) ## Uncomment this if the package has a setup.py. This macro ensures @@ -120,24 +121,74 @@ catkin_package( ## Build ## ########### +set(INCLUDE_DIRS + include + ${EIGEN_INCLUDE_DIRS} + ${wolfcore_INCLUDE_DIRS} + ${wolfgnss_INCLUDE_DIRS} + ${gnss_utils_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ) + +set(PUB_SRCS + #src/publisher_gnss_fix.cpp + src/publisher_gnss_tf.cpp + src/publisher_gnss_accuracy.cpp + src/publisher_tracker_gnss_info.cpp + ) + +set(SUB_SRCS + src/subscriber_gnss_fix.cpp + src/subscriber_gnss_fix_publisher_ecef.cpp + src/subscriber_gnss_receiver.cpp + src/subscriber_gnss_ublox.cpp + ) + +set(LIBRARIES + ${wolfcore_LIBRARIES} + ${wolfgnss_LIBRARIES} + ${iri_gnss_msgs_LIBRARIES} + ${catkin_LIBRARIES} + ) + + +# OPTIONAL iri_gnss_msgs dependant code +if (iri_gnss_msgs_FOUND) + message("iri_gnss_msgs FOUND: compiling dependant code") + list(APPEND SUB_SRCS + src/subscriber_gnss.cpp + src/subscriber_gnss_tdcp.cpp + ) + list(APPEND INCLUDE_DIRS ${iri_gnss_msgs_INCLUDE_DIRS}) + list(APPEND LIBRARIES ${iri_gnss_msgs_LIBRARIES}) +endif() + +# OPTIONAL iri_gnss_msgs dependant code +if (novatel_oem7_msgs_FOUND) + message("novatel_oem7_msgs FOUND: compiling dependant code") + list(APPEND SUB_SRCS + src/subscriber_gnss_novatel.cpp + ) + if (iri_gnss_msgs_FOUND) + list(APPEND SUB_SRCS + src/subscriber_gnss_fix_novatel_publisher_ecef.cpp + ) + endif() + list(APPEND INCLUDE_DIRS ${novatel_oem7_msgs_INCLUDE_DIRS}) +endif() + ## Specify additional locations of header files ## Your package locations should be listed before other locations -message("Wolf include path: ${wolf_INCLUDE_DIR}") -include_directories( - include - ${EIGEN_INCLUDE_DIRS} - ${wolf_INCLUDE_DIRS} - ${wolfgnss_INCLUDE_DIRS} - ${gnss_utils_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} - ${CERES_INCLUDE_DIRS} -) +message("Wolf include path: ${wolfcore_INCLUDE_DIRS}") +message("iri_gnss_msgs include path: ${iri_gnss_msgs_INCLUDE_DIRS}") +include_directories(${INCLUDE_DIRS}) # link_directories(/usr/local/lib/iri-algorithms) ## Declare a C++ library # add_library(${PROJECT_NAME} # src/${PROJECT_NAME}/wolf_ros.cpp # ) -add_library(wolf_subscriber_gnss src/wolf_ros_subscriber_gnss.cpp) +add_library(publisher_${PROJECT_NAME} ${PUB_SRCS}) +add_library(subscriber_${PROJECT_NAME} ${SUB_SRCS}) ## Add cmake target dependencies of the library ## as an example, code may need to be generated before libraries @@ -159,13 +210,16 @@ add_library(wolf_subscriber_gnss src/wolf_ros_subscriber_gnss.cpp) ## same as for the library above #add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg) #add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg) +if (iri_gnss_msgs_FOUND) + add_dependencies(subscriber_${PROJECT_NAME} iri_gnss_msgs_generate_messages_cpp) +endif() +if (novatel_oem7_msgs_FOUND) + add_dependencies(subscriber_${PROJECT_NAME} novatel_oem7_msgs_generate_messages_cpp) +endif() ## Specify libraries to link a library or executable target against -target_link_libraries(wolf_subscriber_gnss - ${wolf_LIBRARIES} - ${wolfgnss_LIBRARIES} - ${iri_gnss_msgs_LIBRARIES} - ) +target_link_libraries(subscriber_${PROJECT_NAME} ${LIBRARIES}) +target_link_libraries(publisher_${PROJECT_NAME} ${LIBRARIES}) ############# ## Install ## diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000000000000000000000000000000000000..281d399f13dfd23087acc56303dd38d68162587c --- /dev/null +++ b/LICENSE @@ -0,0 +1,619 @@ + 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 + + 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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Limitation of Liability. + + IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING +WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS +THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY +GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE +USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF +DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD +PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), +EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF +SUCH DAMAGES. + + 17. Interpretation of Sections 15 and 16. + + If the disclaimer of warranty and limitation of liability provided +above cannot be given local legal effect according to their terms, +reviewing courts shall apply local law that most closely approximates +an absolute waiver of all civil liability in connection with the +Program, unless a warranty or assumption of liability accompanies a +copy of the Program in return for a fee. diff --git a/README.md b/README.md index 12660697df8618b3725cd2bb87c321d118d25cc2..2a5b9a680d0722f9aab4ac52b3868a35665ea734 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,28 @@ # wolf_ros_gnss +This is the ros package of the [WOLF GNSS plugin](https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/gnss). + +# Other dependencies + +**iri_gnss_msgs** + +Clone package and generate ROS messages. In a new terminal: + +``` +roscd +cd ../src +git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/gauss_project/iri_gnss_msgs.git +cd .. +catkin_make --only-pkg-with-deps iri_gnss_msgs +``` +**Novatel OEM7 msgs** + +Clone package and generate ROS messages. In a new terminal: + +``` +roscd +cd ../src +git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/gauss_project/novatel_oem7_driver.git +cd .. +catkin_make --only-pkg-with-deps novatel_oem7_msgs +``` \ No newline at end of file diff --git a/include/publisher_gnss_accuracy.h b/include/publisher_gnss_accuracy.h new file mode 100644 index 0000000000000000000000000000000000000000..57ca6cfb27e97a50d925f07cb779f29fac88352e --- /dev/null +++ b/include/publisher_gnss_accuracy.h @@ -0,0 +1,64 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#ifndef PUBLISHER_GNSS_ACCURACY_H +#define PUBLISHER_GNSS_ACCURACY_H + +/************************** + * WOLF includes * + **************************/ +#include "core/problem/problem.h" + +#include "publisher.h" + +/************************** + * ROS includes * + **************************/ +#include <ros/ros.h> +#include <visualization_msgs/Marker.h> + +namespace wolf +{ + +class PublisherGnssAccuracy: public Publisher +{ + visualization_msgs::Marker PL_marker_msg_; + std_msgs::ColorRGBA marker_color_; + SensorBasePtr sensor_; + double k_H_, k_V_; + + public: + PublisherGnssAccuracy(const std::string& _unique_name, + const ParamsServer& _server, + const ProblemPtr _problem); + WOLF_PUBLISHER_CREATE(PublisherGnssAccuracy); + + virtual ~PublisherGnssAccuracy(){}; + + void initialize(ros::NodeHandle &nh, const std::string& topic) override; + + void publishDerived() override; +}; + +WOLF_REGISTER_PUBLISHER(PublisherGnssAccuracy) +} + +#endif diff --git a/include/publisher_gnss_fix.h b/include/publisher_gnss_fix.h new file mode 100644 index 0000000000000000000000000000000000000000..a4f0caf70dcbfe8f693342c7d5651cc067962e10 --- /dev/null +++ b/include/publisher_gnss_fix.h @@ -0,0 +1,78 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#ifndef PUBLISHER_FIX_H +#define PUBLISHER_FIX_H + +/************************** + * WOLF includes * + **************************/ +#include "core/problem/problem.h" + +#include "publisher.h" + +/************************** + * ROS includes * + **************************/ +#include <ros/ros.h> +#include <geometry_msgs/PoseWithCovarianceStamped.h> +#include <visualization_msgs/Marker.h> +#include <tf/transform_listener.h> + +namespace wolf +{ + +class PublishGnssFix: public Publisher +{ + geometry_msgs::PoseArray pose_array_msg_; + geometry_msgs::PoseStamped pose_msg_; + visualization_msgs::Marker marker_msg_; + SensorBasePtr sensor_; + std::string frame_id_, map_frame_id_; + + ros::Publisher pub_pose_array_, pub_marker_, pub_pose_; + + public: + PublishGnssFix(const std::string& _unique_name, + const ParamsServer& _server, + const ProblemPtr _problem); + WOLF_PUBLISHER_CREATE(PublishGnssFix); + + virtual ~PublishGnssFix(){}; + + void initialize(ros::NodeHandle &nh, const std::string& topic) override; + + void publishDerived() override; + + void publishPose(const geometry_msgs::Pose pose, const ros::Time& stamp); + + protected: + + bool listenTf(); + Eigen::Quaterniond q_frame_; + Eigen::Vector3d t_frame_; + tf::TransformListener tfl_; +}; + +WOLF_REGISTER_PUBLISHER(PublishGnssFix) +} + +#endif diff --git a/include/publisher_gnss_tf.h b/include/publisher_gnss_tf.h new file mode 100644 index 0000000000000000000000000000000000000000..6779049080bb5e17a560cb611db673b48fd42158 --- /dev/null +++ b/include/publisher_gnss_tf.h @@ -0,0 +1,61 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#ifndef PUBLISHER_GNSS_TF_H +#define PUBLISHER_GNSS_TF_H + +/************************** + * WOLF includes * + **************************/ +#include "core/problem/problem.h" +#include "gnss/sensor/sensor_gnss.h" + +#include "publisher.h" + +#include <tf/transform_broadcaster.h> + +namespace wolf +{ + +class PublisherGnssTf: public Publisher +{ + std::string map_frame_id_, enu_frame_id_, ecef_frame_id_; + tf::StampedTransform T_enu_map_, T_ecef_enu_; + tf::TransformBroadcaster tfb_; + SensorGnssPtr sensor_gnss_; + + public: + PublisherGnssTf(const std::string& _unique_name, + const ParamsServer& _server, + const ProblemPtr _problem); + WOLF_PUBLISHER_CREATE(PublisherGnssTf); + + virtual ~PublisherGnssTf(){}; + + void initialize(ros::NodeHandle &nh, const std::string& topic) override; + + void publishDerived() override; +}; + +WOLF_REGISTER_PUBLISHER(PublisherGnssTf) +} + +#endif diff --git a/include/publisher_tracker_gnss_info.h b/include/publisher_tracker_gnss_info.h new file mode 100644 index 0000000000000000000000000000000000000000..ce057285292583562c24510723ede5976093d589 --- /dev/null +++ b/include/publisher_tracker_gnss_info.h @@ -0,0 +1,64 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#ifndef PUBLISHER_TRACKER_GNSS_INFO_H +#define PUBLISHER_TRACKER_GNSS_INFO_H + +/************************** + * WOLF includes * + **************************/ +#include "core/problem/problem.h" +#include "gnss/processor/processor_tracker_gnss.h" + +#include "publisher.h" + +/************************** + * ROS includes * + **************************/ +#include <ros/ros.h> + +namespace wolf +{ + +class PublisherTrackerGnssInfo: public Publisher +{ + protected: + + ProcessorTrackerGnssPtr processor_tracker_gnss_; + ros::Publisher publisher_untracked_; + + public: + PublisherTrackerGnssInfo(const std::string& _unique_name, + const ParamsServer& _server, + const ProblemPtr _problem); + WOLF_PUBLISHER_CREATE(PublisherTrackerGnssInfo); + + virtual ~PublisherTrackerGnssInfo(){}; + + void initialize(ros::NodeHandle &nh, const std::string& topic) override; + + void publishDerived() override; +}; + +WOLF_REGISTER_PUBLISHER(PublisherTrackerGnssInfo) +} + +#endif diff --git a/include/subscriber_gnss.h b/include/subscriber_gnss.h new file mode 100644 index 0000000000000000000000000000000000000000..a1efaf42c05807dbba09f5d814555ca5dcc2e274 --- /dev/null +++ b/include/subscriber_gnss.h @@ -0,0 +1,86 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#ifndef SUBSCRIBER_GNSS_H +#define SUBSCRIBER_GNSS_H +/************************** + * WOLF includes * + **************************/ +#include <core/yaml/parser_yaml.h> +#include <core/common/wolf.h> +#include <core/problem/problem.h> +#include <core/utils/params_server.h> +#include <gnss/capture/capture_gnss.h> +#include <gnss/sensor/sensor_gnss.h> + +/************************** + * ROS includes * + **************************/ +#include <ros/ros.h> +#include <iri_gnss_msgs/Observation.h> +#include <iri_gnss_msgs/Navigation.h> +#include <iri_gnss_msgs/iri_gnss_msgs_to_gnss_utils.h> + +/************************** + * STD includes * + **************************/ +#include <iostream> +#include <iomanip> +#include <queue> + +/************************** + * WOLF-ROS includes * + **************************/ +#include "subscriber.h" + +/************************** + * Other includes * + **************************/ +#include "gnss_utils/navigation.h" +#include "gnss_utils/observations.h" + +namespace wolf +{ + +class SubscriberGnss : public Subscriber +{ + protected: + + ros::Subscriber sub_nav_; + std::shared_ptr<GnssUtils::Navigation> last_nav_ptr_; + + public: + // Constructor + SubscriberGnss(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr); + WOLF_SUBSCRIBER_CREATE(SubscriberGnss); + + virtual void initialize(ros::NodeHandle& nh, const std::string& topic); + + void callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg); + + void callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg); +}; +WOLF_REGISTER_SUBSCRIBER(SubscriberGnss); + +} +#endif diff --git a/include/subscriber_gnss_fix.h b/include/subscriber_gnss_fix.h new file mode 100644 index 0000000000000000000000000000000000000000..b005546970c81e9906d8a45a50a00bf9401710ed --- /dev/null +++ b/include/subscriber_gnss_fix.h @@ -0,0 +1,80 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#ifndef SUBSCRIBER_GNSS_FIX_H +#define SUBSCRIBER_GNSS_FIX_H +/************************** + * WOLF includes * + **************************/ +#include <core/yaml/parser_yaml.h> +#include <core/common/wolf.h> +#include <core/problem/problem.h> +#include <core/utils/params_server.h> +#include <gnss/capture/capture_gnss_fix.h> +#include <gnss/sensor/sensor_gnss.h> + +/************************** + * ROS includes * + **************************/ +#include <ros/ros.h> +#include <sensor_msgs/NavSatFix.h> + +/************************** + * STD includes * + **************************/ +#include <iostream> +#include <iomanip> +#include <queue> + +/************************** + * WOLF-ROS includes * + **************************/ +#include "subscriber.h" + +/************************** + * Other includes * + **************************/ +#include "gnss_utils/gnss_utils.h" + +namespace wolf +{ + +class SubscriberGnssFix : public Subscriber +{ + std::string cov_mode_; + double cov_factor_; + Eigen::Matrix3d cov_; + + public: + // Constructor + SubscriberGnssFix(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr); + WOLF_SUBSCRIBER_CREATE(SubscriberGnssFix); + + virtual void initialize(ros::NodeHandle& nh, const std::string& topic); + + void callback(const sensor_msgs::NavSatFix::ConstPtr& msg); +}; +WOLF_REGISTER_SUBSCRIBER(SubscriberGnssFix) + +} +#endif diff --git a/include/subscriber_gnss_fix_novatel_publisher_ecef.h b/include/subscriber_gnss_fix_novatel_publisher_ecef.h new file mode 100644 index 0000000000000000000000000000000000000000..d171317ce3a27fff25faa80ffa5cb89e22cf78cb --- /dev/null +++ b/include/subscriber_gnss_fix_novatel_publisher_ecef.h @@ -0,0 +1,62 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#ifndef SUBSCRIBER_GNSS_FIX_NOVATEL_PUBLISHER_ECEF_H +#define SUBSCRIBER_GNSS_FIX_NOVATEL_PUBLISHER_ECEF_H + +/************************** + * ROS includes * + **************************/ +#include <ros/ros.h> +#include "novatel_oem7_msgs/BESTPOS.h" + +/************************** + * STD includes * + **************************/ +#include <iostream> +#include <iomanip> +#include <queue> + +/************************** + * WOLF-ROS includes * + **************************/ +#include "subscriber_gnss_fix_publisher_ecef.h" + +namespace wolf +{ + +class SubscriberGnssFixNovatelPublisherEcef : public SubscriberGnssFixPublisherEcef +{ + public: + // Constructor + SubscriberGnssFixNovatelPublisherEcef(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr); + WOLF_SUBSCRIBER_CREATE(SubscriberGnssFixNovatelPublisherEcef); + + void initialize(ros::NodeHandle& nh, const std::string& topic) override; + + void callback(const novatel_oem7_msgs::BESTPOS::ConstPtr& msg); +}; +WOLF_REGISTER_SUBSCRIBER(SubscriberGnssFixNovatelPublisherEcef) + +} +#endif diff --git a/include/subscriber_gnss_fix_publisher_ecef.h b/include/subscriber_gnss_fix_publisher_ecef.h new file mode 100644 index 0000000000000000000000000000000000000000..4099db417cb13a6986120886a5c3a44a53d75e99 --- /dev/null +++ b/include/subscriber_gnss_fix_publisher_ecef.h @@ -0,0 +1,91 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#ifndef SUBSCRIBER_GNSS_FIX_PUBLISHER_ECEF_H +#define SUBSCRIBER_GNSS_FIX_PUBLISHER_ECEF_H + +/************************** + * ROS includes * + **************************/ +#include <ros/ros.h> +#include <sensor_msgs/NavSatFix.h> +#include <geometry_msgs/PoseArray.h> +#include <geometry_msgs/PoseStamped.h> +#include <visualization_msgs/Marker.h> +#include <tf/transform_listener.h> + +/************************** + * STD includes * + **************************/ +#include <iostream> +#include <iomanip> +#include <queue> + +/************************** + * WOLF-ROS includes * + **************************/ +#include "subscriber.h" + +namespace wolf +{ + +class SubscriberGnssFixPublisherEcef : public Subscriber +{ + protected: + // TF + tf::TransformListener tfl_; + bool ENU_defined_; + Eigen::Matrix3d R_enu_ecef_; + Eigen::Vector3d t_enu_ecef_; + + // publisher + ros::Time last_publish_stamp_; + double period_, line_size_; + int max_points_; + bool pose_array_, pose_, marker_; + geometry_msgs::PoseArray pose_array_msg_; + geometry_msgs::PoseStamped pose_msg_; + visualization_msgs::Marker marker_msg_; + std_msgs::ColorRGBA marker_color_; + ros::Publisher pub_pose_array_, pub_marker_, pub_pose_; + + public: + // Constructor + SubscriberGnssFixPublisherEcef(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr); + WOLF_SUBSCRIBER_CREATE(SubscriberGnssFixPublisherEcef); + + void initialize(ros::NodeHandle& nh, const std::string& topic) override; + + void callback(const sensor_msgs::NavSatFix::ConstPtr& msg); + + void computeAndPublish(const Eigen::Vector3d& LatLonAlt, const ros::Time& stamp); + + protected: + bool listenTf(); + + void publishPose(const geometry_msgs::Pose pose, const ros::Time& stamp); +}; +WOLF_REGISTER_SUBSCRIBER(SubscriberGnssFixPublisherEcef) + +} +#endif diff --git a/include/subscriber_gnss_novatel.h b/include/subscriber_gnss_novatel.h new file mode 100644 index 0000000000000000000000000000000000000000..4bead2903d4b02b68947771194a10c4554ad3a19 --- /dev/null +++ b/include/subscriber_gnss_novatel.h @@ -0,0 +1,72 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#ifndef SUBSCRIBER_GNSS_NOVATEL_H +#define SUBSCRIBER_GNSS_NOVATEL_H +/************************** + * WOLF includes * + **************************/ +#include <core/yaml/parser_yaml.h> +#include <core/common/wolf.h> +#include <core/problem/problem.h> +#include <core/utils/params_server.h> +#include <gnss/capture/capture_gnss.h> +#include <gnss/sensor/sensor_gnss.h> + +/************************** + * ROS includes * + **************************/ +#include <ros/ros.h> +#include "novatel_oem7_msgs/Oem7RawMsg.h" + +/************************** + * WOLF-ROS includes * + **************************/ +#include "subscriber_gnss_receiver.h" + +/************************** + * Other includes * + **************************/ +#include "gnss_utils/navigation.h" +#include "gnss_utils/observations.h" +#include "gnss_utils/receivers/novatel_raw.h" + +namespace wolf +{ + +class SubscriberGnssNovatel : public SubscriberGnssReceiver +{ + public: + // Constructor + SubscriberGnssNovatel(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr); + WOLF_SUBSCRIBER_CREATE(SubscriberGnssNovatel); + + void initialize(ros::NodeHandle& nh, const std::string& topic) override; + + void callback(const novatel_oem7_msgs::Oem7RawMsg& msg); + +}; +WOLF_REGISTER_SUBSCRIBER(SubscriberGnssNovatel); + +} +#endif diff --git a/include/subscriber_gnss_receiver.h b/include/subscriber_gnss_receiver.h new file mode 100644 index 0000000000000000000000000000000000000000..b02880e0f7815e23b16ff6356edbe1702ecc8872 --- /dev/null +++ b/include/subscriber_gnss_receiver.h @@ -0,0 +1,108 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#ifndef SUBSCRIBER_GNSS_RECEIVER_H +#define SUBSCRIBER_GNSS_RECEIVER_H +/************************** + * WOLF includes * + **************************/ +#include <gnss/internal/config.h> +#include <core/yaml/parser_yaml.h> +#include <core/common/wolf.h> +#include <core/problem/problem.h> +#include <core/utils/params_server.h> +#include <gnss/capture/capture_gnss.h> +#include <gnss/sensor/sensor_gnss.h> + +/************************** + * ROS includes * + **************************/ +#include <ros/ros.h> +#include <std_msgs/Bool.h> +#include <geometry_msgs/PoseArray.h> +#include <visualization_msgs/Marker.h> +#include <tf/transform_listener.h> + +/************************** + * WOLF-ROS includes * + **************************/ +#include "subscriber.h" + +/************************** + * Other includes * + **************************/ +#include "gnss_utils/gnss_utils.h" +#include "gnss_utils/navigation.h" +#include "gnss_utils/observations.h" +#include "gnss_utils/receiver_raw_base.h" + +namespace wolf +{ + +class SubscriberGnssReceiver : public Subscriber +{ + public: + // Constructor + SubscriberGnssReceiver(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr, + GnssUtils::ReceiverRawAbstractPtr _receiver); + + void initialize(ros::NodeHandle& nh, const std::string& topic) override; + + protected: + + void createCaptureAndProcess(const ros::Time& _stamp); + + GnssUtils::ReceiverRawAbstractPtr receiver_; + + // sats available + bool process_not_available_; + bool sats_available_; + ros::Publisher pub_available_; + + // Publish fix + void publishFixComp(); + void fillMsgs(const geometry_msgs::Pose pose, const std::string& comp); + void publish(const ros::Time& stamp, const std::string& comp); + bool publish_fix_; + std::string topic_fix_; + GnssUtils::Options compute_pos_opt_; + + // comparative + std::map<std::string, geometry_msgs::PoseStamped> pose_msgs_; + std::map<std::string, geometry_msgs::PoseArray> pose_array_msgs_; + std::map<std::string, visualization_msgs::Marker> marker_msgs_; + std::map<std::string, bool> last_fixes_ok_; + std::map<std::string, geometry_msgs::Pose> last_fixes_pose_; + std::map<std::string, ros::Publisher> publishers_pose_, publishers_pose_array_, publishers_marker_; + std::vector<std::string> comp_options_; + + //TF + bool listenTf(); + bool ENU_defined_; + Eigen::Matrix3d R_enu_ecef_; + Eigen::Vector3d t_enu_ecef_; + tf::TransformListener tfl_; +}; + +} +#endif diff --git a/include/subscriber_gnss_tdcp.h b/include/subscriber_gnss_tdcp.h new file mode 100644 index 0000000000000000000000000000000000000000..9b176ada5e12ced7b6008213c81c5dfc023f2298 --- /dev/null +++ b/include/subscriber_gnss_tdcp.h @@ -0,0 +1,89 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#ifndef SUBSCRIBER_GNSS_TDCP_H +#define SUBSCRIBER_GNSS_TDCP_H +/************************** + * WOLF includes * + **************************/ +#include <core/yaml/parser_yaml.h> +#include <core/common/wolf.h> +#include <core/problem/problem.h> +#include <core/utils/params_server.h> +#include <gnss/capture/capture_gnss.h> +#include <gnss/sensor/sensor_gnss.h> + +/************************** + * ROS includes * + **************************/ +#include <ros/ros.h> +#include <iri_gnss_msgs/Observation.h> +#include <iri_gnss_msgs/Navigation.h> +#include <iri_gnss_msgs/iri_gnss_msgs_to_gnss_utils.h> + +/************************** + * STD includes * + **************************/ +#include <iostream> +#include <iomanip> +#include <queue> + +/************************** + * WOLF-ROS includes * + **************************/ +#include "subscriber.h" + +/************************** + * Other includes * + **************************/ +#include "gnss_utils/gnss_utils.h" + +namespace wolf +{ + +class SubscriberGnssTdcp : public Subscriber +{ + protected: + + ros::Subscriber sub_nav_; + std::shared_ptr<GnssUtils::Navigation> last_nav_ptr_; + + //prcopt_t prcopt_; + //bool new_obs_; + + public: + // Constructor + SubscriberGnssTdcp(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr); + WOLF_SUBSCRIBER_CREATE(SubscriberGnssTdcp); + + virtual void initialize(ros::NodeHandle& nh, const std::string& topic); + + void callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg); + + void callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg); + +}; +WOLF_REGISTER_SUBSCRIBER(SubscriberGnssTdcp); + +} +#endif diff --git a/include/subscriber_gnss_ublox.h b/include/subscriber_gnss_ublox.h new file mode 100644 index 0000000000000000000000000000000000000000..c7c380112c870fe4408435c7b827980f4206c3c3 --- /dev/null +++ b/include/subscriber_gnss_ublox.h @@ -0,0 +1,80 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#ifndef SUBSCRIBER_GNSS_UBLOX_H +#define SUBSCRIBER_GNSS_UBLOX_H +/************************** + * WOLF includes * + **************************/ +#include <core/yaml/parser_yaml.h> +#include <core/common/wolf.h> +#include <core/problem/problem.h> +#include <core/utils/params_server.h> +#include <gnss/capture/capture_gnss.h> +#include <gnss/sensor/sensor_gnss.h> + +/************************** + * ROS includes * + **************************/ +#include <ros/ros.h> +#include <std_msgs/UInt8MultiArray.h> + +/************************** + * WOLF-ROS includes * + **************************/ +#include "subscriber_gnss_receiver.h" + +/************************** + * Other includes * + **************************/ +#include "gnss_utils/navigation.h" +#include "gnss_utils/observations.h" +#include "gnss_utils/receivers/ublox_raw.h" + +namespace wolf +{ + +class SubscriberGnssUblox : public SubscriberGnssReceiver +{ + public: + // Constructor + SubscriberGnssUblox(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr); + WOLF_SUBSCRIBER_CREATE(SubscriberGnssUblox); + virtual ~SubscriberGnssUblox(); + + virtual void initialize(ros::NodeHandle& nh, const std::string& topic); + + void callback(const std_msgs::UInt8MultiArray& msg); + + double secondsSinceLastCallback() override; + + protected: + long unsigned int n_msgs_; + ros::Time reseted_stamp_; + bool reset_driver_node_; + double max_topic_delay_, reset_duration_; +}; + +WOLF_REGISTER_SUBSCRIBER(SubscriberGnssUblox); +} +#endif diff --git a/include/wolf_ros_subscriber_gnss.h b/include/wolf_ros_subscriber_gnss.h deleted file mode 100644 index 79562aaedc4d5c3a7f4cdcd69d1b846f94770715..0000000000000000000000000000000000000000 --- a/include/wolf_ros_subscriber_gnss.h +++ /dev/null @@ -1,56 +0,0 @@ -/************************** - * WOLF includes * - **************************/ -#include <core/yaml/parser_yaml.hpp> -#include <core/common/wolf.h> -#include <core/problem/problem.h> -#include <core/utils/params_server.hpp> -#include <gnss/capture/capture_gnss.h> -#include <gnss/sensor/sensor_gnss.h> - -/************************** - * ROS includes * - **************************/ -#include <ros/ros.h> -#include <iri_gnss_msgs/Observation.h> -#include <iri_gnss_msgs/Navigation.h> -#include <iri_gnss_msgs/iri_gnss_msgs_to_gnssutils.h> - -/************************** - * STD includes * - **************************/ -#include <iostream> -#include <iomanip> -#include <queue> - -/************************** - * WOLF-ROS includes * - **************************/ -#include "wolf_ros_subscriber.h" -#include "subscriber_factory.h" -#include "gnss_utils.h" - -using namespace wolf; - -class WolfSubscriberWrapperGnss : public WolfSubscriberWrapper -{ - protected: - - ros::Subscriber sub_nav_; - GNSSUtils::Navigation last_nav_; - bool last_nav_valid_; - - public: - // Constructor - WolfSubscriberWrapperGnss(const SensorBasePtr& sensor_ptr); - - virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic); - - void callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg); - - void callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg); - - static std::shared_ptr<WolfSubscriberWrapper> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr); -}; - -WOLF_REGISTER_SUBSCRIBER(WolfSubscriberWrapperGnss) diff --git a/license_header_2022.txt b/license_header_2022.txt new file mode 100644 index 0000000000000000000000000000000000000000..0c987025f9dba3e7af993051b9bdf4b5ff400e0d --- /dev/null +++ b/license_header_2022.txt @@ -0,0 +1,17 @@ +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. diff --git a/package.xml b/package.xml index fdff95eeee06e07be2f64fbf5c27cb94d3530753..4b2aeb94d591abab0a5567d20c3a5c7a581ee33b 100644 --- a/package.xml +++ b/package.xml @@ -55,6 +55,7 @@ <build_depend>iri_gnss_msgs</build_depend> <build_depend>tf</build_depend> <build_depend>wolf_ros_node</build_depend> + <build_depend>novatel_oem7_msgs</build_depend> <build_export_depend>roscpp</build_export_depend> <build_export_depend>sensor_msgs</build_export_depend> <build_export_depend>std_msgs</build_export_depend> diff --git a/src/publisher_gnss_accuracy.cpp b/src/publisher_gnss_accuracy.cpp new file mode 100644 index 0000000000000000000000000000000000000000..a2ef3ca4ffab3a22328e4f0c59e8dcf9c2d20199 --- /dev/null +++ b/src/publisher_gnss_accuracy.cpp @@ -0,0 +1,132 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#include "publisher_gnss_accuracy.h" + +/************************** + * ROS includes * + **************************/ +#include <ros/ros.h> +#include "tf/transform_datatypes.h" + +namespace wolf +{ + +PublisherGnssAccuracy::PublisherGnssAccuracy(const std::string& _unique_name, + const ParamsServer& _server, + const ProblemPtr _problem) : + Publisher(_unique_name, _server, _problem) +{ + Eigen::Vector4d col = _server.getParam<Eigen::Vector4d>(prefix_ + "/marker_color"); + marker_color_.r = col(0); + marker_color_.g = col(1); + marker_color_.b = col(2); + marker_color_.a = col(3); + sensor_ = _problem->getSensor(_server.getParam<std::string>(prefix_ + "/sensor")); + k_H_ = _server.getParam<double>(prefix_ + "/k_H"); + k_V_ = _server.getParam<double>(prefix_ + "/k_V"); +} + +void PublisherGnssAccuracy::initialize(ros::NodeHandle& nh, const std::string& topic) +{ + nh.param<std::string>("map_frame_id", PL_marker_msg_.header.frame_id, "map"); + + PL_marker_msg_.type = visualization_msgs::Marker::CYLINDER; + PL_marker_msg_.action = visualization_msgs::Marker::ADD; + PL_marker_msg_.ns = "PL"; + PL_marker_msg_.color = marker_color_; + PL_marker_msg_.pose.orientation = tf::createQuaternionMsgFromYaw(0); + + publisher_ = nh.advertise<visualization_msgs::Marker>(topic, 1); +} + +void PublisherGnssAccuracy::publishDerived() +{ + // CURRENT POSITION + VectorComposite current_state = problem_->getState("PO"); + TimeStamp loc_ts = problem_->getTimeStamp(); + + // state not ready + if (current_state.count('P') == 0 or + current_state.count('O') == 0 or + not loc_ts.ok()) + { + return; + } + + // fill position of GNSS antenna + Eigen::Vector3d p = Eigen::Vector3d::Zero(); + // 2D + if (problem_->getDim() == 2) + p.head(2) = current_state['P'] + Eigen::Rotation2Dd(current_state['O'](0)) * sensor_->getP()->getState().head(2); + // 3D + else + p = current_state['P'] + Eigen::Quaterniond(Eigen::Vector4d(current_state['O'])) * sensor_->getP()->getState(); + + // COVARIANCE + bool new_cov = false; + Eigen::MatrixXd cov(3,3); + // 2D + if (problem_->getDim() == 2) + throw std::runtime_error("not implemented"); + // 3D + else + { + new_cov = problem_->getCovarianceBlock(problem_->getLastFrame()->getP(), + problem_->getLastFrame()->getP(), + cov, 0, 0); + WOLF_DEBUG_COND(not new_cov, "Last KF covariance could not be recovered, using the previous one"); + } + + // PROTECTION LEVELS + double HPL, VPL; + if (new_cov) + { + // Horizontal + Eigen::SelfAdjointEigenSolver<Eigen::Matrix2d> es(cov.topLeftCorner<2,2>(), Eigen::EigenvaluesOnly); + + if (es.info() == Eigen::Success) + HPL = k_H_ * sqrt(es.eigenvalues().maxCoeff()); + else + new_cov = false; + + WOLF_WARN_COND(not new_cov, "eigen decomposition failed! Cov horizontal:\n", cov.topLeftCorner<2,2>()); + + // Vertical + VPL = k_V_ * sqrt(cov(2,2)); + } + + // CYLINDER MARKER + PL_marker_msg_.header.stamp = ros::Time(loc_ts.getSeconds(), loc_ts.getNanoSeconds()); + PL_marker_msg_.pose.position.x = p(0); + PL_marker_msg_.pose.position.y = p(1); + PL_marker_msg_.pose.position.z = p(2); + + if (new_cov) + { + PL_marker_msg_.scale.x = HPL; + PL_marker_msg_.scale.y = HPL; + PL_marker_msg_.scale.z = VPL; + } + publisher_.publish(PL_marker_msg_); +} + +} diff --git a/src/publisher_gnss_fix.cpp b/src/publisher_gnss_fix.cpp new file mode 100644 index 0000000000000000000000000000000000000000..70f6e3f5dd88f87e7d50a01fa58c6a8ec5d4555e --- /dev/null +++ b/src/publisher_gnss_fix.cpp @@ -0,0 +1,167 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#include <ros/ros.h> +#include "tf/transform_datatypes.h" +#include "tf_conversions/tf_eigen.h" +#include "../include/publisher_gnss_fix.h" + +namespace wolf +{ + +PublishGnssFix::PublishGnssFix(const std::string& _unique_name, + const ParamsServer& _server, + const ProblemPtr _problem) : + Publisher(_unique_name, _server, _problem) +{ + sensor_ = _problem->getSensor(_server.getParam<std::string>(prefix_ + "/sensor")); + frame_id_ = _server.getParam<std::string>(prefix_ + "/frame_id"); +} + +void PublishGnssFix::initialize(ros::NodeHandle& nh, const std::string& topic) +{ + nh.param<std::string>("map_frame_id", map_frame_id_, "map"); + + // initialize msg and publisher + pose_msg_.header.frame_id = frame_id_; + + pub_pose_ = nh.advertise<geometry_msgs::PoseWithCovarianceStamped>(topic, 1); +} + +void PublishGnssFix::publishDerived() +{ + VectorComposite current_state = problem_->getState("PO"); + TimeStamp loc_ts = problem_->getTimeStamp(); + + // state not ready + if (current_state.count('P') == 0 or + current_state.count('O') == 0 or + loc_ts == TimeStamp(0)) + { + return; + } + + + // fill vector and quaternion + Eigen::Vector3d p = Eigen::Vector3d::Zero(); + Eigen::Quaterniond q; + + // 2D + if (problem_->getDim() == 2) + { + if (extrinsics_) + { + p.head(2) = current_state['P'] + Eigen::Rotation2Dd(current_state['O'](0)) * sensor_->getP()->getState().head(2); + if (sensor_->getO()) + q = Eigen::Quaterniond(Eigen::AngleAxisd(current_state['O'](0) + sensor_->getO()->getState()(0), + Eigen::Vector3d::UnitZ())); + else + q = Eigen::Quaterniond(Eigen::AngleAxisd(current_state['O'](0), + Eigen::Vector3d::UnitZ())); + } + else + { + p.head(2) = current_state['P']; + q = Eigen::Quaterniond(Eigen::AngleAxisd(current_state['O'](0), Eigen::Vector3d::UnitZ())); + } + } + // 3D + else + { + if (extrinsics_) + { + p = current_state['P'] + Eigen::Quaterniond(Eigen::Vector4d(current_state['O'])) * sensor_->getP()->getState(); + if (sensor_->getO()) + q = Eigen::Quaterniond(Eigen::Vector4d(current_state['O'])) * Eigen::Quaterniond(Eigen::Vector4d(sensor_->getO()->getState())); + else + q = Eigen::Quaterniond(Eigen::Vector4d(current_state['O'])); + } + else + { + p = current_state['P']; + q = Eigen::Quaterniond(Eigen::Vector4d(current_state['O'])); + } + } + + // Change frame + if (frame_id_ != map_frame_id_ and listenTf()) + { + p = t_frame_ + q_frame_ * p; + q = q_frame_ * q; + } + + // Fill Pose msg + geometry_msgs::Pose pose_msg; + pose_msg.position.x = p(0); + pose_msg.position.y = p(1); + pose_msg.position.z = p(2); + + pose_msg.orientation.x = q.x(); + pose_msg.orientation.y = q.y(); + pose_msg.orientation.z = q.z(); + pose_msg.orientation.w = q.w(); + publishPose(pose_msg, ros::Time(loc_ts.getSeconds(), loc_ts.getNanoSeconds())); +} + +void PublishGnssFix::publishPose(const geometry_msgs::Pose pose, const ros::Time& stamp) +{ + // fill msgs and publish + if (pub_pose_.getNumSubscribers() != 0) + { + pose_msg_.header.stamp = stamp; + pose_msg_.pose = pose; + + pub_pose_.publish(pose_msg_); + } + if (pub_pose_array_.getNumSubscribers() != 0) + { + pose_array_msg_.header.stamp = stamp; + pose_array_msg_.poses.push_back(pose); + + pub_pose_array_.publish(pose_array_msg_); + } + if (pub_marker_.getNumSubscribers() != 0) + { + marker_msg_.header.stamp = stamp; + marker_msg_.points.push_back(pose.position); + + pub_marker_.publish(marker_msg_); + } +} + +bool PublishGnssFix::listenTf() +{ + tf::StampedTransform T; + if ( tfl_.waitForTransform(frame_id_, map_frame_id_, ros::Time(0), ros::Duration(0.01)) ) + { + tfl_.lookupTransform(frame_id_, map_frame_id_, ros::Time(0), T); + + Eigen::Matrix3d R; + tf::matrixTFToEigen(T.getBasis(), R); + tf::vectorTFToEigen(T.getOrigin(), t_frame_); + q_frame_ = Eigen::Quaterniond(R); + + return true; + } + return false; +} + +} diff --git a/src/publisher_gnss_tf.cpp b/src/publisher_gnss_tf.cpp new file mode 100644 index 0000000000000000000000000000000000000000..ed7ab474f9586167f15b207bd0dbb2dc89110fd6 --- /dev/null +++ b/src/publisher_gnss_tf.cpp @@ -0,0 +1,91 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#include "publisher_gnss_tf.h" + +/************************** + * ROS includes * + **************************/ +#include <ros/ros.h> +#include "tf/transform_datatypes.h" +#include "tf_conversions/tf_eigen.h" + +namespace wolf +{ + +PublisherGnssTf::PublisherGnssTf(const std::string& _unique_name, + const ParamsServer& _server, + const ProblemPtr _problem) : + Publisher(_unique_name, _server, _problem) +{ + sensor_gnss_ = std::static_pointer_cast<SensorGnss>(_problem->getSensor(_server.getParam<std::string>(prefix_ + "/sensor_gnss_name"))); + + T_enu_map_.setIdentity(); + T_enu_map_.frame_id_ = "ENU"; + T_enu_map_.stamp_ = ros::Time::now(); + + T_ecef_enu_.setIdentity(); + T_ecef_enu_.frame_id_ = "ECEF"; + T_ecef_enu_.child_frame_id_ = "ENU"; + T_ecef_enu_.stamp_ = ros::Time::now(); +} + +void PublisherGnssTf::initialize(ros::NodeHandle& nh, const std::string& topic) +{ + nh.param<std::string>("map_frame_id", T_enu_map_.child_frame_id_, "map"); + std::cout << "PublisherGnssTf initialized using map_frame_id: " << T_enu_map_.child_frame_id_ << std::endl; +} + +void PublisherGnssTf::publishDerived() +{ + tf::Matrix3x3 tf_R_enu_map, tf_R_enu_ecef; + tf::Vector3 tf_t_enu_map, tf_t_enu_ecef; + + if (not sensor_gnss_->isEnuDefined()) + return; + + //Eigen::Matrix3d ei_R_enu_ecef = sensor_gnss_->getREnuEcef(); + //Eigen::Vector3d ei_t_enu_ecef = sensor_gnss_->gettEnuEcef(); + + //Eigen::Matrix3d ei_R_enu_map = sensor_gnss_->getREnuMap(); + //Eigen::Vector3d ei_t_enu_map = sensor_gnss_->gettEnuMap(); + + //tf::matrixEigenToTF(ei_R_enu_ecef, tf_R_enu_ecef); + //tf::vectorEigenToTF(ei_t_enu_ecef, tf_t_enu_ecef); + tf::matrixEigenToTF(sensor_gnss_->getREnuEcef(), tf_R_enu_ecef); + tf::vectorEigenToTF(sensor_gnss_->gettEnuEcef(), tf_t_enu_ecef); + + //tf::matrixEigenToTF(ei_R_enu_map, tf_R_enu_map); + //tf::vectorEigenToTF(ei_t_enu_map, tf_t_enu_map); + tf::matrixEigenToTF(sensor_gnss_->getREnuMap(), tf_R_enu_map); + tf::vectorEigenToTF(sensor_gnss_->gettEnuMap(), tf_t_enu_map); + + T_ecef_enu_.setData(tf::Transform(tf_R_enu_ecef, tf_t_enu_ecef).inverse()); + T_enu_map_ .setData(tf::Transform(tf_R_enu_map, tf_t_enu_map)); + + T_ecef_enu_.stamp_ = ros::Time::now(); + T_enu_map_ .stamp_ = ros::Time::now(); + + tfb_.sendTransform(T_ecef_enu_); + tfb_.sendTransform(T_enu_map_); +} + +} diff --git a/src/publisher_tracker_gnss_info.cpp b/src/publisher_tracker_gnss_info.cpp new file mode 100644 index 0000000000000000000000000000000000000000..1fc154f2a2390adf28538b365294d3654d00632d --- /dev/null +++ b/src/publisher_tracker_gnss_info.cpp @@ -0,0 +1,69 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#include "../include/publisher_tracker_gnss_info.h" + +#include "std_msgs/UInt16.h" +#include "tf/transform_datatypes.h" + +namespace wolf +{ + +PublisherTrackerGnssInfo::PublisherTrackerGnssInfo(const std::string& _unique_name, + const ParamsServer& _server, + const ProblemPtr _problem) : + Publisher(_unique_name, _server, _problem), + processor_tracker_gnss_(nullptr) +{ + auto proc_name = _server.getParam<std::string>(prefix_ + "/processor_gnss"); + for (auto sen : _problem->getHardware()->getSensorList()) + { + for (auto proc : sen->getProcessorList()) + if (proc_name == proc->getName()) + { + processor_tracker_gnss_ = std::dynamic_pointer_cast<ProcessorTrackerGnss>(proc); + if (not processor_tracker_gnss_) + throw std::runtime_error("PublisherTrackerGnssInfo: the processor with name " + proc_name + " is not of type ProcessorTrackerGnss."); + break; + } + if (processor_tracker_gnss_) + break; + } + if (not processor_tracker_gnss_) + throw std::runtime_error("PublisherTrackerGnssInfo: the processor with name " + proc_name + " was not found."); +} + +void PublisherTrackerGnssInfo::initialize(ros::NodeHandle& nh, const std::string& topic) +{ + publisher_ = nh.advertise<std_msgs::UInt16>(topic + "_tracked", 1); + publisher_untracked_ = nh.advertise<std_msgs::UInt16>(topic + "_untracked", 1); +} + +void PublisherTrackerGnssInfo::publishDerived() +{ + std_msgs::UInt16 msg; + msg.data = processor_tracker_gnss_->getNTrackedSats(); + publisher_.publish(msg); + msg.data = processor_tracker_gnss_->getNUntrackedSats(); + publisher_untracked_.publish(msg); +} + +} diff --git a/src/subscriber_gnss.cpp b/src/subscriber_gnss.cpp new file mode 100644 index 0000000000000000000000000000000000000000..22d9e59f49e4104fd40f9b2cafd6be9388b785cf --- /dev/null +++ b/src/subscriber_gnss.cpp @@ -0,0 +1,77 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#include "../include/subscriber_gnss.h" + +namespace wolf +{ + +// Constructor +SubscriberGnss::SubscriberGnss(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr) : + Subscriber(_unique_name, _server, _sensor_ptr) +{ +} + + +void SubscriberGnss::initialize(ros::NodeHandle& nh, const std::string& topic) +{ + sub_ = nh.subscribe(topic+std::string("obs"), 1, &SubscriberGnss::callbackObservation, this); + sub_nav_ = nh.subscribe(topic+std::string("nav"), 1, &SubscriberGnss::callbackNavigation, this); +} + + +void SubscriberGnss::callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg) +{ + updateLastHeader(msg->header); + + ROS_DEBUG("callbackObs!"); + if (last_nav_ptr_==nullptr) + return; + + GnssUtils::ObservationsPtr obs_ptr = std::make_shared<GnssUtils::Observations>(); + GnssUtils::fillObservation(*obs_ptr, msg); + GnssUtils::SnapshotPtr snapshot_ptr = std::make_shared<GnssUtils::Snapshot>(obs_ptr, last_nav_ptr_); + CaptureGnssPtr new_capture = std::make_shared<CaptureGnss>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec), + sensor_ptr_, + snapshot_ptr); + new_capture->process(); +} + +void SubscriberGnss::callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg) +{ + ROS_DEBUG("callbackNav!"); + + //std::cout << "Ephemeris size: " << msg->eph.size() << "\n"; + last_nav_ptr_ = std::make_shared<GnssUtils::Navigation>(); + GnssUtils::fillNavigation(*last_nav_ptr_, msg); + //last_nav_ptr_->print(); + +// if (this->new_obs_) +// { +// std::cout << "Before computed!!! \n"; +// this->get_pos_res_ = GnssUtils::computePos(this->obs_, *last_nav_ptr_, this->prcopt_); +// std::cout << "Computed!!! \n"; +// } +} + +} diff --git a/src/subscriber_gnss_fix.cpp b/src/subscriber_gnss_fix.cpp new file mode 100644 index 0000000000000000000000000000000000000000..5ce3ca8b056b70d58ecafd4c4bbe5604b600ea8d --- /dev/null +++ b/src/subscriber_gnss_fix.cpp @@ -0,0 +1,67 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#include "../include/subscriber_gnss_fix.h" + +namespace wolf +{ + +// Constructor +SubscriberGnssFix::SubscriberGnssFix(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr) + : Subscriber(_unique_name, _server, _sensor_ptr) + , cov_factor_(1) +{ + + cov_mode_ = _server.getParam<std::string>(prefix_ + "/cov_mode"); + + //if (cov_mode_ == "msg") //nothing to be done + if (cov_mode_ == "manual") + cov_ = _server.getParam<Eigen::Matrix3d>(prefix_ + "/cov"); + if (cov_mode_ == "factor") + cov_factor_ = _server.getParam<double>(prefix_ + "/cov_factor"); +} + + +void SubscriberGnssFix::initialize(ros::NodeHandle& nh, const std::string& topic) +{ + sub_ = nh.subscribe(topic, 1, &SubscriberGnssFix::callback, this); +} + +void SubscriberGnssFix::callback(const sensor_msgs::NavSatFix::ConstPtr& msg) +{ + updateLastHeader(msg->header); + + if (cov_mode_ == "msg" or cov_mode_ == "factor") + cov_ = cov_factor_ * Eigen::Map<const Eigen::Matrix3d>(msg->position_covariance.data()); + + CaptureGnssFixPtr cap_gnss_ptr = std::make_shared<CaptureGnssFix>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec), + sensor_ptr_, + Eigen::Vector3d(msg->latitude * M_PI / 180.0, + msg->longitude * M_PI / 180.0, + msg->altitude), + cov_, + false); // false = {LatLonAlt fix and ENU cov} + cap_gnss_ptr->process(); +} + +} diff --git a/src/subscriber_gnss_fix_novatel_publisher_ecef.cpp b/src/subscriber_gnss_fix_novatel_publisher_ecef.cpp new file mode 100644 index 0000000000000000000000000000000000000000..612368526a59a2ec32a470892ae9710213b7e335 --- /dev/null +++ b/src/subscriber_gnss_fix_novatel_publisher_ecef.cpp @@ -0,0 +1,55 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#include "subscriber_gnss_fix_novatel_publisher_ecef.h" +#include "gnss_utils/utils/transformations.h" +#include "tf/transform_datatypes.h" + +namespace wolf +{ + +// Constructor +SubscriberGnssFixNovatelPublisherEcef::SubscriberGnssFixNovatelPublisherEcef(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr) + : SubscriberGnssFixPublisherEcef(_unique_name, _server, _sensor_ptr) +{ +} + + +void SubscriberGnssFixNovatelPublisherEcef::initialize(ros::NodeHandle& nh, const std::string& topic) +{ + SubscriberGnssFixPublisherEcef::initialize(nh, topic); + sub_.shutdown(); + sub_ = nh.subscribe(topic, 1, &SubscriberGnssFixNovatelPublisherEcef::callback, this); +} + +void SubscriberGnssFixNovatelPublisherEcef::callback(const novatel_oem7_msgs::BESTPOS::ConstPtr& _msg) +{ + updateLastHeader(_msg->header); + + computeAndPublish(Eigen::Vector3d(_msg->lat * M_PI / 180.0, + _msg->lon * M_PI / 180.0, + _msg->hgt+_msg->undulation), + _msg->header.stamp); +} + +} diff --git a/src/subscriber_gnss_fix_publisher_ecef.cpp b/src/subscriber_gnss_fix_publisher_ecef.cpp new file mode 100644 index 0000000000000000000000000000000000000000..8faf1ece26045ea3e6c9c6883d6fff4fdcfd6c93 --- /dev/null +++ b/src/subscriber_gnss_fix_publisher_ecef.cpp @@ -0,0 +1,179 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#include "subscriber_gnss_fix_publisher_ecef.h" +#include "gnss_utils/utils/transformations.h" +#include "tf/transform_datatypes.h" +#include "tf_conversions/tf_eigen.h" + +namespace wolf +{ + +// Constructor +SubscriberGnssFixPublisherEcef::SubscriberGnssFixPublisherEcef(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr) + : Subscriber(_unique_name, _server, _sensor_ptr) + , ENU_defined_(false) +{ + period_ = _server.getParam<double>(prefix_ + "/period"); + + // marker color + Eigen::Vector4d color = getParamWithDefault<Eigen::Vector4d>(_server, + prefix_ + "/marker_color", + (Eigen::Vector4d() << 0, 0, 1, 1).finished()); // blue + marker_color_.r = color(0); + marker_color_.g = color(1); + marker_color_.b = color(2); + marker_color_.a = color(3); + + max_points_ = getParamWithDefault<int>(_server, + prefix_ + "/max_points", + 1e3); + line_size_ = getParamWithDefault<double>(_server, + prefix_ + "/line_size", + 0.1); +} + +void SubscriberGnssFixPublisherEcef::initialize(ros::NodeHandle& nh, const std::string& topic) +{ + sub_ = nh.subscribe(topic, 1, &SubscriberGnssFixPublisherEcef::callback, this); + + // initialize msgs and publishers + pose_msg_.header.frame_id = "ENU"; + pub_pose_ = nh.advertise<geometry_msgs::PoseStamped>(topic + "_ENU_pose", 1); + + pose_array_msg_.header.frame_id = "ENU"; + pub_pose_array_ = nh.advertise<geometry_msgs::PoseArray>(topic + "_ENU_pose_array", 1); + + marker_msg_.header.frame_id = "ENU"; + marker_msg_.type = visualization_msgs::Marker::LINE_STRIP; + marker_msg_.action = visualization_msgs::Marker::ADD; + marker_msg_.ns = "trajectory"; + marker_msg_.scale.x = line_size_; + marker_msg_.color = marker_color_; + marker_msg_.pose.orientation = tf::createQuaternionMsgFromYaw(0); + + pub_marker_ = nh.advertise<visualization_msgs::Marker>(topic + "_ENU_marker", 1); +} + +void SubscriberGnssFixPublisherEcef::callback(const sensor_msgs::NavSatFix::ConstPtr& _msg) +{ + updateLastHeader(_msg->header); + + computeAndPublish(Eigen::Vector3d(_msg->latitude * M_PI / 180.0, + _msg->longitude * M_PI / 180.0, + _msg->altitude), + _msg->header.stamp); +} + +void SubscriberGnssFixPublisherEcef::computeAndPublish(const Eigen::Vector3d& LatLonAlt, const ros::Time& stamp) +{ + // listen TF ECEF-ENU once + if (not ENU_defined_ and not listenTf()) + return; + + if ((stamp - last_publish_stamp_).toSec() < period_) + return; + + // ECEF-ENU is defined + Eigen::Vector3d fix_ENU = R_enu_ecef_ * GnssUtils::latLonAltToEcef(LatLonAlt) + t_enu_ecef_; + + // Fill Odometry msg + geometry_msgs::Pose pose_msg; + pose_msg.position.x = fix_ENU(0); + pose_msg.position.y = fix_ENU(1); + pose_msg.position.z = fix_ENU(2); + pose_msg.orientation = tf::createQuaternionMsgFromRollPitchYaw(0,M_PI/2,0); + + publishPose(pose_msg, stamp); + + last_publish_stamp_ = stamp; +} + +bool SubscriberGnssFixPublisherEcef::listenTf() +{ + tf::StampedTransform T_ecef2enu; + if ( tfl_.waitForTransform("ENU", "ECEF", ros::Time(0), ros::Duration(0.01)) ) + { + tfl_.lookupTransform("ENU", "ECEF", ros::Time(0), T_ecef2enu); + + tf::matrixTFToEigen(T_ecef2enu.getBasis(), R_enu_ecef_); + tf::vectorTFToEigen(T_ecef2enu.getOrigin(), t_enu_ecef_); + + ENU_defined_ = true; + return true; + } + return false; +} + +void SubscriberGnssFixPublisherEcef::publishPose(const geometry_msgs::Pose pose, const ros::Time& stamp) +{ + // fill msgs and publish + if (pub_pose_.getNumSubscribers() != 0) + { + pose_msg_.header.stamp = stamp; + pose_msg_.pose = pose; + + pub_pose_.publish(pose_msg_); + } + if (pub_pose_array_.getNumSubscribers() != 0) + { + pose_array_msg_.header.stamp = stamp; + + if (max_points_ >= 0 and pose_array_msg_.poses.size() >= max_points_) + { + int i = 1; + while (i < pose_array_msg_.poses.size()) + { + pose_array_msg_.poses.erase(pose_array_msg_.poses.begin()+i); + i++; + } + //pose_array_msg_.poses.erase(pose_array_msg_.poses.begin(), + // pose_array_msg_.poses.begin() + max_points_/2); + } + + pose_array_msg_.poses.push_back(pose); + + pub_pose_array_.publish(pose_array_msg_); + } + if (pub_marker_.getNumSubscribers() != 0) + { + marker_msg_.header.stamp = stamp; + + if (max_points_ >= 0 and marker_msg_.points.size() >= max_points_) + { + int i = 1; + while (i < marker_msg_.points.size()) + { + marker_msg_.points.erase(marker_msg_.points.begin()+i); + i++; + } + //marker_msg_.points.erase(marker_msg_.points.begin(), + // marker_msg_.points.begin() + max_points_/2); + } + marker_msg_.points.push_back(pose.position); + + pub_marker_.publish(marker_msg_); + } +} + +} diff --git a/src/subscriber_gnss_novatel.cpp b/src/subscriber_gnss_novatel.cpp new file mode 100644 index 0000000000000000000000000000000000000000..0f135774cc30d9bf5f9c9937144b2fc19deeb5ae --- /dev/null +++ b/src/subscriber_gnss_novatel.cpp @@ -0,0 +1,61 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#include "../include/subscriber_gnss_novatel.h" + +namespace wolf +{ + +// Constructor +SubscriberGnssNovatel::SubscriberGnssNovatel(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr) : + SubscriberGnssReceiver(_unique_name, + _server, + _sensor_ptr, + std::make_shared<GnssUtils::NovatelRaw>()) +{ +} + +void SubscriberGnssNovatel::initialize(ros::NodeHandle& nh, const std::string& topic) +{ + SubscriberGnssReceiver::initialize(nh, topic); + + sub_ = nh.subscribe(topic, 10000, &SubscriberGnssNovatel::callback, this); +} + +void SubscriberGnssNovatel::callback(const novatel_oem7_msgs::Oem7RawMsg& msg) +{ + updateLastHeader(msg.header); + + GnssUtils::RawDataType res = receiver_->addDataStream(msg.message_data); + + //std::cout << "res = " << (int) res << std::endl; + + // only create capture if observation is received + if (res == GnssUtils::OBS) + { + //ROS_INFO("Observation received!"); + createCaptureAndProcess(msg.header.stamp); + } +} + +} diff --git a/src/subscriber_gnss_receiver.cpp b/src/subscriber_gnss_receiver.cpp new file mode 100644 index 0000000000000000000000000000000000000000..87bc2c7f7a82a45c291baea6de28d29dae7b4848 --- /dev/null +++ b/src/subscriber_gnss_receiver.cpp @@ -0,0 +1,437 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#include "../include/subscriber_gnss_receiver.h" +#include "tf/transform_datatypes.h" +#include "tf_conversions/tf_eigen.h" + +namespace wolf +{ + +SubscriberGnssReceiver::SubscriberGnssReceiver(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr, + GnssUtils::ReceiverRawAbstractPtr _receiver) : + Subscriber(_unique_name, _server, _sensor_ptr), + receiver_(_receiver), + sats_available_(false), + ENU_defined_(false) +{ + process_not_available_ = _server.getParam<bool>(prefix_ + "/process_not_available"); + publish_fix_ = _server.getParam<bool>(prefix_ + "/publish_fix/enabled"); + if (publish_fix_) + { + /* comparation of GNSS options: + * 3 numbers: RAIM - EPH - IONO/TROPO + * RAIM: 0-1 + * EPH: + * 0: EPHOPT_BRDC + * 1: EPHOPT_SBAS (only SBAS) + * 2: EPHOPT_SBAS2 (SBAS and BRDC) + * 3: EPHOPT_SBAS3 (only SBAS if possible, otherwise SBAS+BRDC) + * 4: EPHOPT_SBAS4 (only SBAS if possible, otherwise BRDC) + * IONO/TROPO: + * 0: broadcasted + * 1: SBAS + * 2: iono-free (tropo broadcasted) + */ + + std::list<int> raim{0};//,1} + std::list<int> eph{0,1,2,3,4}; + std::list<int> corr{0,1};//,2}; + for (auto r : raim) + for (auto e : eph) + for (auto c : corr) + comp_options_.push_back(std::string(std::to_string(r)+std::to_string(e)+std::to_string(c))); + + /*comp_options_.push_back("000"); + comp_options_.push_back("001"); + comp_options_.push_back("002"); + comp_options_.push_back("010"); + comp_options_.push_back("011"); + comp_options_.push_back("012"); + comp_options_.push_back("100"); + comp_options_.push_back("101"); + comp_options_.push_back("102"); + comp_options_.push_back("110"); + comp_options_.push_back("111"); + comp_options_.push_back("112");*/ + + // params + topic_fix_ = _server.getParam<std::string>(prefix_ + "/publish_fix/topic"); + + // markers colors + Eigen::MatrixXd default_colors(12,4); + default_colors << 1, 1, 1, 1, + 1, 1, 0, 1, + 1, 0, 1, 1, + 0, 1, 1, 1, + .5, .5, 1, 1, + .5, 1, .5, 1, + 1, .5, .5, 1, + .5, .5, .5, 1, + 0, .5, .5, 1, + .5, .5, 0, 1, + .5, 0, .5, 1, + 0, 0, .5, 1; + + for (auto id_comp = 0; id_comp < comp_options_.size(); id_comp++) + { + auto comp = comp_options_[id_comp]; + Eigen::Vector4d color = getParamWithDefault<Eigen::Vector4d>(_server, + prefix_ + "/publish_fix/marker_color_" + comp, + default_colors.row(id_comp)); + marker_msgs_[comp] = visualization_msgs::Marker(); + marker_msgs_.at(comp).color.r = color(0); + marker_msgs_.at(comp).color.g = color(1); + marker_msgs_.at(comp).color.b = color(2); + marker_msgs_.at(comp).color.a = color(3); + } + + // last fix + for (auto comp : comp_options_) + { + last_fixes_ok_.emplace(comp, false); + last_fixes_pose_.emplace(comp, geometry_msgs::Pose()); + } + } + + // GNSS OPTIONS (see gnss_utils.h) + compute_pos_opt_ = GnssUtils::default_options; + compute_pos_opt_.sateph = getParamWithDefault<int> (_server, + prefix_ + "/gnss_options/sateph", + compute_pos_opt_.sateph); // satellite ephemeris/clock (0:broadcast ephemeris,1:precise ephemeris,2:broadcast + SBAS,3:ephemeris option: broadcast + SSR_APC,4:broadcast + SSR_COM,5: QZSS LEX ephemeris + compute_pos_opt_.ionoopt = getParamWithDefault<int> (_server, + prefix_ + "/gnss_options/ionoopt", + compute_pos_opt_.ionoopt); // ionosphere option (0:correction off,1:broadcast mode,2:SBAS model,3:L1/L2 or L1/L5,4:estimation,5:IONEX TEC model,6:QZSS broadcast,7:QZSS LEX ionosphere,8:SLANT TEC mode) + compute_pos_opt_.tropopt = getParamWithDefault<int> (_server, + prefix_ + "/gnss_options/tropopt", + compute_pos_opt_.tropopt); // troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction) + compute_pos_opt_.sbascorr = getParamWithDefault<int> (_server, + prefix_ + "/gnss_options/sbascorr", + compute_pos_opt_.sbascorr);// SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging) + compute_pos_opt_.raim = getParamWithDefault<int> (_server, + prefix_ + "/gnss_options/raim", + compute_pos_opt_.raim); // RAIM enabled + compute_pos_opt_.elmin = getParamWithDefault<double>(_server, + prefix_ + "/gnss_options/elmin", + compute_pos_opt_.elmin); // min elevation (rad) + compute_pos_opt_.maxgdop = getParamWithDefault<double>(_server, + prefix_ + "/gnss_options/maxgdop", + compute_pos_opt_.maxgdop); // maxgdop: reject threshold of gdop + // Constellations + compute_pos_opt_.GPS = getParamWithDefault<bool>(_server, + prefix_ + "/gnss_options/constellations/GPS", + compute_pos_opt_.GPS); + compute_pos_opt_.SBS = getParamWithDefault<bool>(_server, + prefix_ + "/gnss_options/constellations/GPS", + compute_pos_opt_.SBS); + compute_pos_opt_.GLO = getParamWithDefault<bool>(_server, + prefix_ + "/gnss_options/constellations/GPS", + compute_pos_opt_.GLO); + compute_pos_opt_.GAL = getParamWithDefault<bool>(_server, + prefix_ + "/gnss_options/constellations/GPS", + compute_pos_opt_.GAL); + compute_pos_opt_.QZS = getParamWithDefault<bool>(_server, + prefix_ + "/gnss_options/constellations/GPS", + compute_pos_opt_.QZS); + compute_pos_opt_.CMP = getParamWithDefault<bool>(_server, + prefix_ + "/gnss_options/constellations/GPS", + compute_pos_opt_.CMP); + compute_pos_opt_.IRN = getParamWithDefault<bool>(_server, + prefix_ + "/gnss_options/constellations/GPS", + compute_pos_opt_.IRN); + compute_pos_opt_.LEO = getParamWithDefault<bool>(_server, + prefix_ + "/gnss_options/constellations/GPS", + compute_pos_opt_.LEO); + // user print + ROS_INFO("Waiting for satellites..."); +} + +void SubscriberGnssReceiver::initialize(ros::NodeHandle& nh, const std::string& topic) +{ + pub_available_ = nh.advertise<std_msgs::Bool>("gnss_available", 1); + if (publish_fix_) + { + // initialize msgs and publishers + for (auto comp : comp_options_) + { + pose_msgs_[comp] = geometry_msgs::PoseStamped(); + pose_msgs_.at(comp).header.frame_id = "ENU"; + + publishers_pose_[comp] = nh.advertise<geometry_msgs::PoseStamped>(topic_fix_ + comp + "_pose", 1); + } + for (auto comp : comp_options_) + { + pose_array_msgs_[comp] = geometry_msgs::PoseArray(); + pose_array_msgs_.at(comp).header.frame_id = "ENU"; + + publishers_pose_array_[comp] = nh.advertise<geometry_msgs::PoseArray>(topic_fix_ + comp + "_pose_array", 1); + } + for (auto comp : comp_options_) + { + marker_msgs_.at(comp).header.frame_id = "ENU"; + marker_msgs_.at(comp).type = visualization_msgs::Marker::LINE_LIST; + marker_msgs_.at(comp).action = visualization_msgs::Marker::ADD; + marker_msgs_.at(comp).ns = comp; + marker_msgs_.at(comp).scale.x = 0.1; + marker_msgs_.at(comp).pose.orientation = tf::createQuaternionMsgFromYaw(0); + + publishers_marker_[comp] = nh.advertise<visualization_msgs::Marker>(topic_fix_ + comp + "_marker", 1); + } + } +} + +void SubscriberGnssReceiver::createCaptureAndProcess(const ros::Time& _stamp) +{ + GnssUtils::ComputePosOutput fix; + + // compute fix if publishing or not sats_available + if (not sats_available_) + { + fix = GnssUtils::computePos(receiver_->getObservations(), + receiver_->getNavigation(), + compute_pos_opt_); + + if (not fix.success) + WOLF_INFO("SubscriberGnssReceiver: Couldn't compute fix. Output message: ", fix.msg); + } + + // if (last time) satellites were not available: check if they are + if (not sats_available_) + { + sats_available_ = fix.success; + + // raising message once + if (sats_available_) + ROS_INFO("Enough satellites to start!"); + } + else // discard first message with satellites to give IMU time + { + // publisher of flag "satellites available" + std_msgs::Bool msg; + msg.data = sats_available_; + pub_available_.publish(msg); + + auto snapshot_ptr = std::make_shared<GnssUtils::Snapshot>(std::make_shared<GnssUtils::Observations>(receiver_->getObservations()), + std::make_shared<GnssUtils::Navigation>(receiver_->getNavigation())); + //ROS_INFO("Snapshot with copied observations and navigation created!"); + + auto cap_gnss_ptr = std::make_shared<CaptureGnss>(TimeStamp(_stamp.sec, _stamp.nsec), + sensor_ptr_, + snapshot_ptr); + + //ROS_INFO("Capture GNSS created!"); + try + { + cap_gnss_ptr->process(); + } + catch (std::exception& e) + { + WOLF_ERROR("SubscriberGnssReceiver: Error processing capture gnss"); + cap_gnss_ptr->print(1, false, false, false); + std::cerr << "Exception caught : " << e.what() << std::endl; + } + //ROS_INFO("Capture GNSS processed!"); + } + + // publish available + //sats_available_ = fix.success; + std_msgs::Bool msg; + msg.data = sats_available_; + pub_available_.publish(msg); + + // publish fix + if (publish_fix_) + publishFixComp(); +} + +void SubscriberGnssReceiver::publishFixComp() +{ + // listen TF ECEF-ENU once + if (not ENU_defined_ and not listenTf()) + return; + + GnssUtils::Options comp_pos_opt = compute_pos_opt_; + + WOLF_DEBUG("COMPARING RTKLIB pntpos CONFIGURATIONS /////////////////"); + + for (auto comp : comp_options_) + { + if (publishers_pose_.at(comp).getNumSubscribers() == 0 and + publishers_pose_array_.at(comp).getNumSubscribers() == 0 and + publishers_marker_.at(comp).getNumSubscribers() == 0) + { + // store last as unsuccessful + last_fixes_ok_.at(comp) = false; + + continue; + } + + comp_pos_opt.sbascorr = 15; //sbas corrections + + // RAIM + comp_pos_opt.raim = (int)(comp[0]-'0'); + + // EPHEMERIS + switch (comp[1]) + { + case '0': + comp_pos_opt.sateph = EPHOPT_BRDC; + break; + case '1': + comp_pos_opt.sateph = EPHOPT_SBAS; + break; + case '2': + comp_pos_opt.sateph = EPHOPT_SBAS2; + break; + case '3': + comp_pos_opt.sateph = EPHOPT_SBAS3; + break; + case '4': + comp_pos_opt.sateph = EPHOPT_SBAS4; + break; + } + + // IONO/TROPO + // broadcasted (default '0') + comp_pos_opt.ionoopt = IONOOPT_BRDC; + comp_pos_opt.tropopt = TROPOPT_SAAS; + // sbas corrections + if (comp[2] == '1') + { + comp_pos_opt.tropopt = TROPOPT_SBAS; + comp_pos_opt.ionoopt = IONOOPT_SBAS; + + // iono comb according to eph SBAS variant + if (comp_pos_opt.sateph == EPHOPT_SBAS2) + comp_pos_opt.ionoopt = IONOOPT_SBAS2; + if (comp_pos_opt.sateph == EPHOPT_SBAS3) + comp_pos_opt.ionoopt = IONOOPT_SBAS3; + if (comp_pos_opt.sateph == EPHOPT_SBAS4) + comp_pos_opt.ionoopt = IONOOPT_SBAS4; + } + // iono free + else if (comp[2] == '2') + comp_pos_opt.ionoopt = IONOOPT_IFLC; + + WOLF_DEBUG("opt ", comp, ": ", + " RAIM: ", comp_pos_opt.raim, + " EPH: ", comp_pos_opt.sateph, + " IONO: ", comp_pos_opt.ionoopt, + " TROP: ", comp_pos_opt.tropopt) + + //std::cout << "//////////// Computing fix comp = " << comp << std::endl; + auto fix = GnssUtils::computePos(receiver_->getObservations(), + receiver_->getNavigation(), + comp_pos_opt); + + // print + std::string discarded_str, used_str; + for (auto sat : fix.discarded_sats) + discarded_str += std::to_string(sat) + " "; + for (auto sat : fix.used_sats) + used_str += std::to_string(sat) + " "; + + WOLF_INFO_COND(not fix.success, "computePos failed (opt ", comp, ") with msg: ", fix.msg, + "\n\tused sats: ", fix.used_sats.size(), " (", used_str, ")", + "\n\tdiscarded sats: ", fix.discarded_sats.size(), " (", discarded_str, ")"); + WOLF_DEBUG_COND(fix.success, "computePos succeed (opt ", comp, ")", + "\n\tused sats: ", fix.used_sats.size(), " (", used_str, ")", + "\n\tdiscarded sats: ", fix.discarded_sats.size(), " (", discarded_str, ")"); + + //std::cout << "//////////// Computed" << std::endl; + + // ECEF-ENU is defined + Eigen::Vector3d fix_ENU = R_enu_ecef_ * fix.pos + t_enu_ecef_; + + // Fill Pose msg + geometry_msgs::Pose pose_msg; + pose_msg.position.x = fix_ENU(0); + pose_msg.position.y = fix_ENU(1); + pose_msg.position.z = fix_ENU(2); + pose_msg.orientation = tf::createQuaternionMsgFromRollPitchYaw(0,M_PI/2,0); + + if (fix.success) + fillMsgs(pose_msg, comp); + + publish(ros::Time::now(), comp); + + // store last + last_fixes_ok_.at(comp) = fix.success; + last_fixes_pose_.at(comp) = pose_msg; + } + WOLF_DEBUG("////////////////////////////////////////////////"); +} + +void SubscriberGnssReceiver::fillMsgs(const geometry_msgs::Pose pose, const std::string& comp) +{ + // fill msgs + if (publishers_pose_.at(comp).getNumSubscribers() != 0) + pose_msgs_.at(comp).pose = pose; + + if (publishers_pose_array_.at(comp).getNumSubscribers() != 0) + pose_array_msgs_.at(comp).poses.push_back(pose); + + if (publishers_marker_.at(comp).getNumSubscribers() != 0 and + last_fixes_ok_.at(comp)) + { + marker_msgs_.at(comp).points.push_back(last_fixes_pose_.at(comp).position); + marker_msgs_.at(comp).points.push_back(pose.position); + } +} + +void SubscriberGnssReceiver::publish(const ros::Time& stamp, const std::string& comp) +{ + if (publishers_pose_.at(comp).getNumSubscribers() != 0) + { + pose_msgs_.at(comp).header.stamp = stamp; + publishers_pose_.at(comp).publish(pose_msgs_.at(comp)); + } + if (publishers_pose_array_.at(comp).getNumSubscribers() != 0) + { + pose_array_msgs_.at(comp).header.stamp = stamp; + publishers_pose_array_.at(comp).publish(pose_array_msgs_.at(comp)); + } + if (publishers_marker_.at(comp).getNumSubscribers() != 0) + { + marker_msgs_.at(comp).header.stamp = stamp; + publishers_marker_.at(comp).publish(marker_msgs_.at(comp)); + } +} + +bool SubscriberGnssReceiver::listenTf() +{ + tf::StampedTransform T_ecef2enu; + if ( tfl_.waitForTransform("ENU", "ECEF", ros::Time(0), ros::Duration(0.01)) ) + { + tfl_.lookupTransform("ENU", "ECEF", ros::Time(0), T_ecef2enu); + + tf::matrixTFToEigen(T_ecef2enu.getBasis(), R_enu_ecef_); + tf::vectorTFToEigen(T_ecef2enu.getOrigin(), t_enu_ecef_); + + ENU_defined_ = true; + return true; + } + return false; +} + +} diff --git a/src/subscriber_gnss_tdcp.cpp b/src/subscriber_gnss_tdcp.cpp new file mode 100644 index 0000000000000000000000000000000000000000..63b12282766f3a199e99e11a73f306401d3bebd9 --- /dev/null +++ b/src/subscriber_gnss_tdcp.cpp @@ -0,0 +1,71 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#include "../include/subscriber_gnss_tdcp.h" + +namespace wolf +{ + +// Constructor +SubscriberGnssTdcp::SubscriberGnssTdcp(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr) : + Subscriber(_unique_name, _server, _sensor_ptr) +{ + // TODO copied from Tdcp_ros +} + +void SubscriberGnssTdcp::initialize(ros::NodeHandle& nh, const std::string& topic) +{ + sub_ = nh.subscribe(topic+std::string("_obs"), 1, &SubscriberGnssTdcp::callbackObservation, this); + sub_nav_ = nh.subscribe(topic+std::string("_nav"), 1, &SubscriberGnssTdcp::callbackNavigation, this); +} + +void SubscriberGnssTdcp::callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg) +{ + ROS_INFO("callbackObs!"); + if (last_nav_ptr_==nullptr) + return; + + // TODO copied from Tdcp_ros + +// GnssUtils::ObservationsPtr obs_ptr = std::make_shared<GnssUtils::Observations>(); +// GnssUtils::fillObservation(*obs_ptr, msg); +// CaptureGnssPtr new_capture = std::make_shared<CaptureGnss>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec), +// sensor_ptr_, +// obs_ptr, +// last_nav_ptr_); +// new_capture->process(); +// +} + +void SubscriberGnssTdcp::callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg) +{ + ROS_INFO("callbackNav!"); + + last_nav_ptr_ = std::make_shared<GnssUtils::Navigation>(); + GnssUtils::fillNavigation(*last_nav_ptr_, msg); + last_nav_ptr_->print(); + + // TODO copied from Tdcp_ros +} + +} diff --git a/src/subscriber_gnss_ublox.cpp b/src/subscriber_gnss_ublox.cpp new file mode 100644 index 0000000000000000000000000000000000000000..ac170aa9de2a5248d9913ad8e7eb113dd20a9362 --- /dev/null +++ b/src/subscriber_gnss_ublox.cpp @@ -0,0 +1,99 @@ +//--------LICENSE_START-------- +// +// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC. +// Authors: Joan Solà Ortega (jsola@iri.upc.edu) +// All rights reserved. +// +// This file is part of WOLF +// WOLF is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser 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 Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with this program. If not, see <http://www.gnu.org/licenses/>. +// +//--------LICENSE_END-------- +#include "../include/subscriber_gnss_ublox.h" + +namespace wolf +{ + +// Constructor +SubscriberGnssUblox::SubscriberGnssUblox(const std::string& _unique_name, + const ParamsServer& _server, + const SensorBasePtr _sensor_ptr) : + SubscriberGnssReceiver(_unique_name, + _server, + _sensor_ptr, + std::make_shared<GnssUtils::UBloxRaw>()), + n_msgs_(0) +{ + reset_driver_node_ = _server.getParam<bool>(prefix_ + "/reset_receiver"); + if (reset_driver_node_) + { + max_topic_delay_ = _server.getParam<double>(prefix_ + "/reset_max_topic_delay"); + reset_duration_ = _server.getParam<double>(prefix_ + "/reset_duration"); + } +} + +SubscriberGnssUblox::~SubscriberGnssUblox() +{ + WOLF_INFO("SubscriberGnssUblox destructor: n_msgs_ = ", n_msgs_); +} + +void SubscriberGnssUblox::initialize(ros::NodeHandle& nh, const std::string& topic) +{ + SubscriberGnssReceiver::initialize(nh, topic); + + sub_ = nh.subscribe(topic, 10000, &SubscriberGnssUblox::callback, this); +} + +void SubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg) +{ + ROS_DEBUG("SubscriberGnssUblox::callback message received!"); + + std_msgs::Header header; + header.stamp = ros::Time::now(); + n_msgs_++; + header.seq = n_msgs_; + updateLastHeader(header); + + GnssUtils::RawDataType res = receiver_->addDataStream(msg.data); + + //std::cout << "res = " << (int) res << std::endl; + + // only create capture if observation is received + if (res == GnssUtils::OBS) + { + //ROS_INFO("Observation received!"); + createCaptureAndProcess(header.stamp); + } +} + +double SubscriberGnssUblox::secondsSinceLastCallback() +{ + if (last_stamp_ == ros::Time(0)) + return 0; + + double seconds = (ros::Time::now() - last_stamp_).toSec(); + + if (reset_driver_node_ and + seconds > max_topic_delay_ and + (ros::Time::now() - reseted_stamp_).toSec() > reset_duration_) + { + ROS_WARN("SubscriberGnssUblox: not received raw data for more than %fs and reseted more than %fs ago, reseting ublox diver...", max_topic_delay_, reset_duration_); + + system("rosnode kill ublox_gps"); + reseted_stamp_ = ros::Time::now(); + } + + return seconds; +} + +} diff --git a/src/wolf_ros_subscriber_gnss.cpp b/src/wolf_ros_subscriber_gnss.cpp deleted file mode 100644 index 2d6a715318899c733fda97e0a7eb5b8d1ae1abd2..0000000000000000000000000000000000000000 --- a/src/wolf_ros_subscriber_gnss.cpp +++ /dev/null @@ -1,45 +0,0 @@ -#include "../include/wolf_ros_subscriber_gnss.h" - -using namespace wolf; - -// Constructor -WolfSubscriberWrapperGnss::WolfSubscriberWrapperGnss(const SensorBasePtr& sensor_ptr) : - WolfSubscriberWrapper(sensor_ptr), - last_nav_valid_(false) -{ -} - - -void WolfSubscriberWrapperGnss::initSubscriber(ros::NodeHandle& nh, const std::string& topic) -{ - sub_ = nh.subscribe(topic+std::string("_obs"), 1, &WolfSubscriberWrapperGnss::callbackObservation, this); - sub_nav_ = nh.subscribe(topic+std::string("_nav"), 1, &WolfSubscriberWrapperGnss::callbackNavigation, this); -} - -void WolfSubscriberWrapperGnss::callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg) -{ - ROS_INFO("callbackObs!"); - if (!last_nav_valid_) - return; - - GNSSUtils::Observations obs; - GNSSUtils::fillObservation(obs, msg); - - CaptureGnssPtr new_capture = std::make_shared<CaptureGnss>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec), - sensor_ptr_, - obs, - last_nav_); - new_capture->process(); -} - -void WolfSubscriberWrapperGnss::callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg) -{ - ROS_INFO("callbackNav!"); - GNSSUtils::fillNavigation(last_nav_, msg); - last_nav_valid_ = true; -} - -std::shared_ptr<WolfSubscriberWrapper> WolfSubscriberWrapperGnss::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr) -{ - return std::make_shared<WolfSubscriberWrapperGnss>(_sensor_ptr); -}