Commit 73125ac8 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
Browse files

hello!

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cmake_minimum_required(VERSION 2.8.3)
project(wolf_ros_gauss)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
# SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/wolf_ros_wrapper/cmake_modules")
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
sensor_msgs
iri_gnss_msgs
std_msgs
tf
dynamic_reconfigure
wolf_demo
)
## 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(wolfgnss REQUIRED)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
#generate_messages(
# DEPENDENCIES
# iri_gnss_msgs
#)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
#generate_dynamic_reconfigure_options(
# cfg/WolfROS.cfg
#)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES wolf_ros1
# CATKIN_DEPENDS roscpp sensor_msgs std_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## 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}
${CERES_INCLUDE_DIRS}
)
# link_directories(/usr/local/lib/iri-algorithms)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/wolf_ros.cpp
# )
add_library(wolf_subscriber_gnss src/wolf_ros_subscriber_gnss.cpp)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
# add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg"
# set_target_properties(${PROJECT_NAME} PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
#add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
#add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
## Specify libraries to link a library or executable target against
target_link_libraries(wolf_subscriber_gnss
${wolf_LIBRARIES}
${wolfgnss_LIBRARIES}
${iri_gnss_msgs_LIBRARIES}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_wolf_ros.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
# wolf_ros_gnss
/**************************
* 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)
<?xml version="1.0"?>
<package format="2">
<name>wolf_ros_gnss</name>
<version>0.0.0</version>
<description>The wolf_ros package of GAUSS project</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="jvallve@iri.upc.edu">jvallve</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/wolf_ros1</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>iri_gnss_msgs</build_depend>
<build_depend>tf</build_depend>
<build_depend>wolf_demo</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>
<build_export_depend>iri_gnss_msgs</build_export_depend>
<build_export_depend>tf</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>iri_gnss_msgs</exec_depend>
<exec_depend>tf</exec_depend>
<exec_depend>wolf_demo</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
#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);
}
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