diff --git a/CMakeLists.txt b/CMakeLists.txt
index a459fa15dc1983a336dc48c78e939a921de07574..f68f9b09de8b7a3bf4b8651cee43710f64ca93e1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -137,10 +137,10 @@ include_directories(
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/wolf_ros.cpp
# )
-add_library(wolf_subscriber_gnss src/wolf_subscriber_gnss.cpp)
-add_library(wolf_subscriber_gnss_fix src/wolf_subscriber_gnss_fix.cpp)
-add_library(wolf_subscriber_gnss_TDCP src/wolf_subscriber_gnss_TDCP.cpp)
-add_library(wolf_subscriber_gnss_ublox src/wolf_subscriber_gnss_ublox.cpp)
+add_library(subscriber_gnss src/subscriber_gnss.cpp)
+add_library(subscriber_gnss_fix src/subscriber_gnss_fix.cpp)
+add_library(subscriber_gnss_Tdcp src/subscriber_gnss_Tdcp.cpp)
+add_library(subscriber_gnss_ublox src/subscriber_gnss_ublox.cpp)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
@@ -164,22 +164,22 @@ add_library(wolf_subscriber_gnss_ublox src/wolf_subscriber_gnss_ublox.cpp)
#add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
## Specify libraries to link a library or executable target against
-target_link_libraries(wolf_subscriber_gnss
+target_link_libraries(subscriber_gnss
${wolf_LIBRARIES}
${wolfgnss_LIBRARIES}
${iri_gnss_msgs_LIBRARIES}
)
-target_link_libraries(wolf_subscriber_gnss_fix
+target_link_libraries(subscriber_gnss_fix
${wolf_LIBRARIES}
${wolfgnss_LIBRARIES}
${iri_gnss_msgs_LIBRARIES}
)
-target_link_libraries(wolf_subscriber_gnss_TDCP
+target_link_libraries(subscriber_gnss_Tdcp
${wolf_LIBRARIES}
${wolfgnss_LIBRARIES}
${iri_gnss_msgs_LIBRARIES}
)
-target_link_libraries(wolf_subscriber_gnss_ublox
+target_link_libraries(subscriber_gnss_ublox
${wolf_LIBRARIES}
${wolfgnss_LIBRARIES}
${iri_gnss_msgs_LIBRARIES}
diff --git a/include/wolf_subscriber_gnss.h b/include/subscriber_gnss.h
similarity index 81%
rename from include/wolf_subscriber_gnss.h
rename to include/subscriber_gnss.h
index de3a920f77e81b74b13c98f42d56874c01e9c430..abe58749cf110a1bc103996a090a238bcb2ccd79 100644
--- a/include/wolf_subscriber_gnss.h
+++ b/include/subscriber_gnss.h
@@ -26,13 +26,13 @@
/**************************
* WOLF-ROS includes *
**************************/
-#include "wolf_subscriber.h"
+#include "subscriber.h"
#include "subscriber_factory.h"
#include "gnss_utils/gnss_utils.h"
using namespace wolf;
-class WolfSubscriberGnss : public WolfSubscriber
+class SubscriberGnss : public Subscriber
{
protected:
@@ -47,7 +47,7 @@ class WolfSubscriberGnss : public WolfSubscriber
public:
// Constructor
- WolfSubscriberGnss(const SensorBasePtr& sensor_ptr);
+ SubscriberGnss(const SensorBasePtr& sensor_ptr);
virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
@@ -55,6 +55,6 @@ class WolfSubscriberGnss : public WolfSubscriber
void callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg);
- static std::shared_ptr<WolfSubscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
+ static std::shared_ptr<Subscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
};
-WOLF_REGISTER_SUBSCRIBER(WolfSubscriberGnss)
+WOLF_REGISTER_SUBSCRIBER(SubscriberGnss)
diff --git a/include/wolf_subscriber_gnss_TDCP.h b/include/subscriber_gnss_Tdcp.h
similarity index 79%
rename from include/wolf_subscriber_gnss_TDCP.h
rename to include/subscriber_gnss_Tdcp.h
index 145a48b289961271c0d5c40ec0cd058772b50951..be74dbb3047aada1ae1a4af443cc53950b352334 100644
--- a/include/wolf_subscriber_gnss_TDCP.h
+++ b/include/subscriber_gnss_Tdcp.h
@@ -26,13 +26,13 @@
/**************************
* WOLF-ROS includes *
**************************/
-#include "wolf_subscriber.h"
+#include "subscriber.h"
#include "subscriber_factory.h"
#include "gnss_utils/gnss_utils.h"
using namespace wolf;
-class WolfSubscriberGnssTDCP : public WolfSubscriber
+class SubscriberGnssTdcp : public Subscriber
{
protected:
@@ -44,7 +44,7 @@ class WolfSubscriberGnssTDCP : public WolfSubscriber
public:
// Constructor
- WolfSubscriberGnssTDCP(const SensorBasePtr& sensor_ptr);
+ SubscriberGnssTdcp(const SensorBasePtr& sensor_ptr);
virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
@@ -52,6 +52,6 @@ class WolfSubscriberGnssTDCP : public WolfSubscriber
void callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg);
- static std::shared_ptr<WolfSubscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
+ static std::shared_ptr<Subscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
};
-WOLF_REGISTER_SUBSCRIBER(WolfSubscriberGnssTDCP)
+WOLF_REGISTER_SUBSCRIBER(SubscriberGnssTdcp)
diff --git a/include/wolf_subscriber_gnss_fix.h b/include/subscriber_gnss_fix.h
similarity index 73%
rename from include/wolf_subscriber_gnss_fix.h
rename to include/subscriber_gnss_fix.h
index 2a16a5f1bba570292812770344492f3444ae1095..33c4b70cdf132a93c768405d5f5503fed133d010 100644
--- a/include/wolf_subscriber_gnss_fix.h
+++ b/include/subscriber_gnss_fix.h
@@ -24,22 +24,22 @@
/**************************
* WOLF-ROS includes *
**************************/
-#include "wolf_subscriber.h"
+#include "subscriber.h"
#include "subscriber_factory.h"
#include "gnss_utils/gnss_utils.h"
using namespace wolf;
-class WolfSubscriberGnssFix : public WolfSubscriber
+class SubscriberGnssFix : public Subscriber
{
public:
// Constructor
- WolfSubscriberGnssFix(const SensorBasePtr& sensor_ptr);
+ SubscriberGnssFix(const SensorBasePtr& sensor_ptr);
virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
void callback(const sensor_msgs::NavSatFix::ConstPtr& msg);
- static std::shared_ptr<WolfSubscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
+ static std::shared_ptr<Subscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
};
-WOLF_REGISTER_SUBSCRIBER(WolfSubscriberGnssFix)
+WOLF_REGISTER_SUBSCRIBER(SubscriberGnssFix)
diff --git a/include/wolf_subscriber_gnss_ublox.h b/include/subscriber_gnss_ublox.h
similarity index 72%
rename from include/wolf_subscriber_gnss_ublox.h
rename to include/subscriber_gnss_ublox.h
index 920d61dbae5ccb5ca4f7e72ddf84cc7084e19835..f16d2bc01c1e3b7dd70bd30403b2ba792dfe1259 100644
--- a/include/wolf_subscriber_gnss_ublox.h
+++ b/include/subscriber_gnss_ublox.h
@@ -17,27 +17,27 @@
/**************************
* WOLF-ROS includes *
**************************/
-#include "wolf_subscriber.h"
+#include "subscriber.h"
#include "subscriber_factory.h"
#include "gnss_utils/gnss_utils.h"
#include "gnss_utils/ublox_raw.h"
using namespace wolf;
-class WolfSubscriberGnssUblox : public WolfSubscriber
+class SubscriberGnssUblox : public Subscriber
{
public:
// Constructor
- WolfSubscriberGnssUblox(const SensorBasePtr& sensor_ptr);
+ SubscriberGnssUblox(const SensorBasePtr& sensor_ptr);
virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
void callback(const std_msgs::UInt8MultiArray& msg);
- static std::shared_ptr<WolfSubscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
+ static std::shared_ptr<Subscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
protected:
GNSSUtils::UBloxRaw ublox_raw_;
};
-WOLF_REGISTER_SUBSCRIBER(WolfSubscriberGnssUblox)
+WOLF_REGISTER_SUBSCRIBER(SubscriberGnssUblox)
diff --git a/src/wolf_subscriber_gnss.cpp b/src/subscriber_gnss.cpp
similarity index 65%
rename from src/wolf_subscriber_gnss.cpp
rename to src/subscriber_gnss.cpp
index 0030098534219359619535428c6c12f9c5c8c8c8..1ddc25f394627c18d05bf22ede1e31ded50b745d 100644
--- a/src/wolf_subscriber_gnss.cpp
+++ b/src/subscriber_gnss.cpp
@@ -3,8 +3,8 @@
using namespace wolf;
// Constructor
-WolfSubscriberGnss::WolfSubscriberGnss(const SensorBasePtr& sensor_ptr) :
- WolfSubscriber(sensor_ptr)
+SubscriberGnss::SubscriberGnss(const SensorBasePtr& sensor_ptr) :
+ Subscriber(sensor_ptr)
{
//prcopt_ = prcopt_default;
//prcopt_.mode = PMODE_SINGLE;
@@ -22,14 +22,14 @@ WolfSubscriberGnss::WolfSubscriberGnss(const SensorBasePtr& sensor_ptr) :
}
-void WolfSubscriberGnss::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
+void SubscriberGnss::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
{
- sub_ = nh.subscribe(topic+std::string("_obs"), 1, &WolfSubscriberGnss::callbackObservation, this);
- sub_nav_ = nh.subscribe(topic+std::string("_nav"), 1, &WolfSubscriberGnss::callbackNavigation, this);
+ sub_ = nh.subscribe(topic+std::string("_obs"), 1, &SubscriberGnss::callbackObservation, this);
+ sub_nav_ = nh.subscribe(topic+std::string("_nav"), 1, &SubscriberGnss::callbackNavigation, this);
}
-void WolfSubscriberGnss::callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg)
+void SubscriberGnss::callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg)
{
ROS_INFO("callbackObs!");
if (last_nav_ptr_==nullptr)
@@ -44,7 +44,7 @@ void WolfSubscriberGnss::callbackObservation(const iri_gnss_msgs::Observation::C
new_capture->process();
}
-void WolfSubscriberGnss::callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg)
+void SubscriberGnss::callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg)
{
ROS_INFO("callbackNav!");
@@ -61,7 +61,7 @@ void WolfSubscriberGnss::callbackNavigation(const iri_gnss_msgs::Navigation::Con
// }
}
-std::shared_ptr<WolfSubscriber> WolfSubscriberGnss::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
+std::shared_ptr<Subscriber> SubscriberGnss::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
{
- return std::make_shared<WolfSubscriberGnss>(_sensor_ptr);
+ return std::make_shared<SubscriberGnss>(_sensor_ptr);
}
diff --git a/src/subscriber_gnss_Tdcp.cpp b/src/subscriber_gnss_Tdcp.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4f8442f6e8656cccc736d548c569b6b40c23e159
--- /dev/null
+++ b/src/subscriber_gnss_Tdcp.cpp
@@ -0,0 +1,50 @@
+#include "../include/wolf_subscriber_gnss_Tdcp.h"
+
+using namespace wolf;
+
+// Constructor
+SubscriberGnssTdcp::SubscriberGnssTdcp(const SensorBasePtr& sensor_ptr) :
+ Subscriber(sensor_ptr)
+{
+ // TODO copied from Tdcp_ros
+}
+
+void SubscriberGnssTdcp::initSubscriber(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
+}
+
+std::shared_ptr<Subscriber> SubscriberGnssTdcp::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
+{
+ return std::make_shared<SubscriberGnssTdcp>(_sensor_ptr);
+}
diff --git a/src/wolf_subscriber_gnss_fix.cpp b/src/subscriber_gnss_fix.cpp
similarity index 62%
rename from src/wolf_subscriber_gnss_fix.cpp
rename to src/subscriber_gnss_fix.cpp
index 0587ed8ae0ca7c6b86bcf32cd6d6ea42f0b6fad3..95c648abdfbfd6db86cea85a2cc1829f88d15034 100644
--- a/src/wolf_subscriber_gnss_fix.cpp
+++ b/src/subscriber_gnss_fix.cpp
@@ -3,18 +3,18 @@
using namespace wolf;
// Constructor
-WolfSubscriberGnssFix::WolfSubscriberGnssFix(const SensorBasePtr& sensor_ptr) :
- WolfSubscriber(sensor_ptr)
+SubscriberGnssFix::SubscriberGnssFix(const SensorBasePtr& sensor_ptr) :
+ Subscriber(sensor_ptr)
{
}
-void WolfSubscriberGnssFix::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
+void SubscriberGnssFix::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
{
- sub_ = nh.subscribe(topic, 1, &WolfSubscriberGnssFix::callback, this);
+ sub_ = nh.subscribe(topic, 1, &SubscriberGnssFix::callback, this);
}
-void WolfSubscriberGnssFix::callback(const sensor_msgs::NavSatFix::ConstPtr& msg)
+void SubscriberGnssFix::callback(const sensor_msgs::NavSatFix::ConstPtr& msg)
{
Eigen::Matrix3d cov = Eigen::Map<const Eigen::Matrix3d>(msg->position_covariance.data());
@@ -27,7 +27,7 @@ void WolfSubscriberGnssFix::callback(const sensor_msgs::NavSatFix::ConstPtr& msg
false); // false = {LatLonAlt fix and ENU cov}
cap_gnss_ptr->process();
}
-std::shared_ptr<WolfSubscriber> WolfSubscriberGnssFix::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
+std::shared_ptr<Subscriber> SubscriberGnssFix::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
{
- return std::make_shared<WolfSubscriberGnssFix>(_sensor_ptr);
+ return std::make_shared<SubscriberGnssFix>(_sensor_ptr);
}
diff --git a/src/wolf_subscriber_gnss_ublox.cpp b/src/subscriber_gnss_ublox.cpp
similarity index 63%
rename from src/wolf_subscriber_gnss_ublox.cpp
rename to src/subscriber_gnss_ublox.cpp
index 33bcbff9b2a85f4f96627ac52df6356a619b0e58..f24b5ef4d9cee0e071bef8471ad89aa211c401ae 100644
--- a/src/wolf_subscriber_gnss_ublox.cpp
+++ b/src/subscriber_gnss_ublox.cpp
@@ -1,20 +1,20 @@
-#include "../include/wolf_subscriber_gnss_ublox.h"
+#include "../include/subscriber_gnss_ublox.h"
using namespace wolf;
// Constructor
-WolfSubscriberGnssUblox::WolfSubscriberGnssUblox(const SensorBasePtr& sensor_ptr) :
- WolfSubscriber(sensor_ptr)
+SubscriberGnssUblox::SubscriberGnssUblox(const SensorBasePtr& sensor_ptr) :
+ Subscriber(sensor_ptr)
{
}
-void WolfSubscriberGnssUblox::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
+void SubscriberGnssUblox::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
{
- sub_ = nh.subscribe(topic, 100, &WolfSubscriberGnssUblox::callback, this);
+ sub_ = nh.subscribe(topic, 100, &SubscriberGnssUblox::callback, this);
}
-void WolfSubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg)
+void SubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg)
{
GNSSUtils::RawDataType res = ublox_raw_.addDataStream(msg.data);
@@ -42,7 +42,7 @@ void WolfSubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg)
//ROS_INFO("Capture GNSS processed!");
}
}
-std::shared_ptr<WolfSubscriber> WolfSubscriberGnssUblox::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
+std::shared_ptr<Subscriber> SubscriberGnssUblox::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
{
- return std::make_shared<WolfSubscriberGnssUblox>(_sensor_ptr);
+ return std::make_shared<SubscriberGnssUblox>(_sensor_ptr);
}
diff --git a/src/wolf_subscriber_gnss_TDCP.cpp b/src/wolf_subscriber_gnss_TDCP.cpp
deleted file mode 100644
index e70df9e2f73d189d9513eb471a478a3486c7ac4f..0000000000000000000000000000000000000000
--- a/src/wolf_subscriber_gnss_TDCP.cpp
+++ /dev/null
@@ -1,50 +0,0 @@
-#include "../include/wolf_subscriber_gnss_TDCP.h"
-
-using namespace wolf;
-
-// Constructor
-WolfSubscriberGnssTDCP::WolfSubscriberGnssTDCP(const SensorBasePtr& sensor_ptr) :
- WolfSubscriber(sensor_ptr)
-{
- // TODO copied from TDCP_ros
-}
-
-void WolfSubscriberGnssTDCP::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
-{
- sub_ = nh.subscribe(topic+std::string("_obs"), 1, &WolfSubscriberGnssTDCP::callbackObservation, this);
- sub_nav_ = nh.subscribe(topic+std::string("_nav"), 1, &WolfSubscriberGnssTDCP::callbackNavigation, this);
-}
-
-void WolfSubscriberGnssTDCP::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 WolfSubscriberGnssTDCP::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
-}
-
-std::shared_ptr<WolfSubscriber> WolfSubscriberGnssTDCP::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
-{
- return std::make_shared<WolfSubscriberGnssTDCP>(_sensor_ptr);
-}