diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..0dcfcdb41ace182180679e0bf62a2c6484e6392d
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+/.cproject
+/.project
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
new file mode 100644
index 0000000000000000000000000000000000000000..e32a8403d0b2e36560b77844c423e9690a0e1031
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,189 @@
+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_wolfimu_template: &install_wolfimu_definition
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - if [ -d imu ]; then
+ - echo "directory imu exists"
+ - cd imu
+ - git checkout devel
+ - git pull
+ - git checkout $WOLF_IMU_BRANCH
+ - git pull
+ - else
+ - git clone -b $WOLF_IMU_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/imu.git
+ - cd imu
+ - fi
+ - mkdir -pv build
+ - cd build
+ - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=OFF ..
+ - make -j$(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_imu
+ - git checkout $CI_COMMIT_BRANCH
+ - cd ../..
+ - catkin_make
+
+############ LICENSE HEADERS ############
+license_headers:
+ stage: license
+ image: labrobotica/wolf_deps_ros:20.04
+ cache: []
+ except:
+ - master
+ 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: imu-bionic
+ paths:
+ - ci_deps/imu/
+ except:
+ - master
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
+ - *install_wolfimu_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: imu-focal
+ paths:
+ - ci_deps/imu/
+ except:
+ - master
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
+ - *install_wolfimu_definition
+ - *clone_wolfrosnode_definition
+ - ldconfig
+ script:
+ - *build_and_test_definition
+
+############ RUN DEMOS ############
+demo_imu:
+ stage: demos
+ variables:
+ WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
+ WOLF_IMU_BRANCH: $WOLF_IMU_BRANCH
+ WOLF_ROS_CORE_BRANCH: $WOLF_ROS_CORE_BRANCH
+ WOLF_ROS_IMU_BRANCH: $CI_COMMIT_BRANCH
+ trigger:
+ project: mobile_robotics/wolf_projects/wolf_ros/demos/wolf_demo_imu2d
diff --git a/.settings/.gitignore b/.settings/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..d81d4c414cc298fa21635d0b27c126c1b0a7ff3a
--- /dev/null
+++ b/.settings/.gitignore
@@ -0,0 +1 @@
+/language.settings.xml
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9730599eccfcf4c95a3a3b747a9ef6415333787e..54c0ef96c96713c6d5faf35b6da6f05537ad26cb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,8 +1,8 @@
cmake_minimum_required(VERSION 2.8.3)
project(wolf_ros_imu)
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
+## Compile as C++14
+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
@@ -21,7 +21,7 @@ find_package(catkin REQUIRED COMPONENTS
# find_package(Boost REQUIRED COMPONENTS system)
# find_package(Ceres REQUIRED)
# find_package(Eigen3 REQUIRED)
-find_package(wolf REQUIRED)
+find_package(wolfcore REQUIRED)
find_package(wolfimu REQUIRED)
## Uncomment this if the package has a setup.py. This macro ensures
@@ -120,11 +120,11 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
-message("Wolf include path: ${wolf_INCLUDE_DIR}")
+message("Wolf include path: ${wolfcore_INCLUDE_DIRS}")
include_directories(
include
${EIGEN_INCLUDE_DIRS}
- ${wolf_INCLUDE_DIRS}
+ ${wolfcore_INCLUDE_DIRS}
${wolfimu_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
@@ -134,7 +134,12 @@ include_directories(
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/wolf_ros.cpp
# )
-add_library(wolf_subscriber_imu src/wolf_subscriber_imu.cpp)
+add_library(subscriber_${PROJECT_NAME}
+ src/subscriber_compass.cpp
+ src/subscriber_imu.cpp
+ src/subscriber_imu_enableable.cpp)
+add_library(publisher_${PROJECT_NAME}
+ src/publisher_imu_bias.cpp)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
@@ -158,11 +163,16 @@ add_library(wolf_subscriber_imu src/wolf_subscriber_imu.cpp)
#add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
## Specify libraries to link a library or executable target against
-target_link_libraries(wolf_subscriber_imu
- ${wolf_LIBRARIES}
- ${wolfimu_LIBRARIES}
- ${sensor_msgs_LIBRARIES}
- )
+target_link_libraries(subscriber_${PROJECT_NAME}
+ ${wolfcore_LIBRARIES}
+ ${wolfimu_LIBRARIES}
+ ${sensor_msgs_LIBRARIES}
+ )
+target_link_libraries(publisher_${PROJECT_NAME}
+ ${wolfcore_LIBRARIES}
+ ${wolfimu_LIBRARIES}
+ ${sensor_msgs_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. By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users. We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors. You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+ To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights. Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+ For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received. You must make sure that they, too, receive
+or can get the source code. And you must show them these terms so they
+know their rights.
+
+ Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+ For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software. For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+ Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
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+pattern of such abuse occurs in the area of products for individuals to
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+
+ Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
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+patents cannot be used to render the program non-free.
+
+ The precise terms and conditions for copying, distribution and
+modification follow.
+
+ TERMS AND CONDITIONS
+
+ 0. Definitions.
+
+ "This License" refers to version 3 of the GNU General Public License.
+
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+
+ "The Program" refers to any copyrightable work licensed under this
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+
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+ 11. Patents.
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+
+ Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
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+
+ 13. Use with the GNU Affero General Public License.
+
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+ 14. Revised Versions of this License.
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+ 17. Interpretation of Sections 15 and 16.
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+copy of the Program in return for a fee.
diff --git a/include/publisher_imu_bias.h b/include/publisher_imu_bias.h
new file mode 100644
index 0000000000000000000000000000000000000000..5cf9658827d4608db1302246acd09c2e879d3c63
--- /dev/null
+++ b/include/publisher_imu_bias.h
@@ -0,0 +1,59 @@
+//--------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_IMU_BIAS_H
+#define PUBLISHER_IMU_BIAS_H
+
+/**************************
+ * WOLF includes *
+ **************************/
+#include "core/problem/problem.h"
+#include "imu/sensor/sensor_imu.h"
+
+#include "publisher.h"
+
+namespace wolf
+{
+
+class PublisherImuBias: public Publisher
+{
+ std::string map_frame_id_;
+ ros::Publisher pub_accel_, pub_gyro_;
+ SensorImuPtr sensor_imu_;
+
+ public:
+ PublisherImuBias(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const ProblemPtr _problem);
+ WOLF_PUBLISHER_CREATE(PublisherImuBias);
+
+ virtual ~PublisherImuBias(){};
+
+ void initialize(ros::NodeHandle &nh, const std::string& topic) override;
+
+ void publishDerived() override;
+
+};
+
+WOLF_REGISTER_PUBLISHER(PublisherImuBias)
+}
+
+#endif
diff --git a/include/publisher_map_grid_2d_gravity.h b/include/publisher_map_grid_2d_gravity.h
new file mode 100644
index 0000000000000000000000000000000000000000..e81ea60c054b8e9263eb1e73a2dbae6e36c25ff8
--- /dev/null
+++ b/include/publisher_map_grid_2d_gravity.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_MAP_GRID_2D_GRAVITY_H
+#define PUBLISHER_MAP_GRID_2D_GRAVITY_H
+
+/**************************
+ * WOLF includes *
+ **************************/
+#include "core/problem/problem.h"
+#include "imu/sensor/sensor_imu.h"
+
+#include "publisher.h"
+
+
+namespace wolf
+{
+
+class PublisherMapGrid2dGravity: public Publisher
+{
+ std::string map_frame_id_;
+ ros::Publisher pub_accel_, pub_gyro_;
+ SensorImuPtr sensor_imu_;
+
+
+ public:
+ PublisherMapGrid2dGravity(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const ProblemPtr _problem);
+ WOLF_PUBLISHER_CREATE(PublisherImuBias);
+
+ virtual ~PublisherMapGrid2dGravity(){};
+
+ void initialize(ros::NodeHandle &nh, const std::string& topic) override;
+
+ void publishDerived() override;
+
+};
+
+WOLF_REGISTER_PUBLISHER(PublisherImuBias)
+}
+
+#endif
diff --git a/include/subscriber_compass.h b/include/subscriber_compass.h
new file mode 100644
index 0000000000000000000000000000000000000000..e81555238ba2cd796a69b1362c378f23f5d53c36
--- /dev/null
+++ b/include/subscriber_compass.h
@@ -0,0 +1,85 @@
+//--------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 WOLF_SUBSCRIBER_COMPASS_H_
+#define WOLF_SUBSCRIBER_COMPASS_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 <imu/capture/capture_compass.h>
+#include <imu/sensor/sensor_compass.h>
+
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+#include <sensor_msgs/MagneticField.h>
+#include <std_msgs/Bool.h>
+
+/**************************
+ * STD includes *
+ **************************/
+#include <iostream>
+#include <iomanip>
+#include <queue>
+
+/**************************
+ * WOLF-ROS includes *
+ **************************/
+#include "subscriber.h"
+
+namespace wolf
+{
+
+class SubscriberCompass : public Subscriber
+{
+ protected:
+ std::string cov_source_;
+ SensorCompassPtr sensor_compass_;
+ int imu_x_axis_, imu_y_axis_, imu_z_axis_;
+ bool imu_x_neg_, imu_y_neg_, imu_z_neg_;
+
+ // enableable
+ bool enableable_, enabled_;
+ std::string topic_enable_;
+ ros::Subscriber sub_enable_;
+
+ public:
+ // Constructor
+ SubscriberCompass(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr);
+ WOLF_SUBSCRIBER_CREATE(SubscriberCompass);
+
+ virtual void initialize(ros::NodeHandle& nh, const std::string& topic);
+
+ void callback(const sensor_msgs::MagneticField::ConstPtr& msg);
+ void callbackEnable(const std_msgs::Bool::ConstPtr& msg);
+};
+WOLF_REGISTER_SUBSCRIBER(SubscriberCompass)
+
+}
+#endif
diff --git a/include/subscriber_imu.h b/include/subscriber_imu.h
new file mode 100644
index 0000000000000000000000000000000000000000..c7b8cfda5f7fd329954fcf5fceb73d232aa05bf5
--- /dev/null
+++ b/include/subscriber_imu.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 WOLF_SUBSCRIBER_IMU_H_
+#define WOLF_SUBSCRIBER_IMU_H_
+
+/**************************
+ * WOLF includes *
+ **************************/
+#include "core/yaml/parser_yaml.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/processor/processor_motion.h"
+#include "core/utils/params_server.h"
+
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+#include <sensor_msgs/Imu.h>
+
+/**************************
+ * STD includes *
+ **************************/
+#include <iostream>
+#include <iomanip>
+#include <queue>
+
+/**************************
+ * WOLF-ROS includes *
+ **************************/
+#include "subscriber.h"
+
+namespace wolf
+{
+
+class SubscriberImu : public Subscriber
+{
+ protected:
+ bool in_degrees_;
+ std::string cov_source_;
+ bool non_orthogonal_gravity_;
+ ros::Publisher pub_bias_accel_, pub_bias_gyro_, pub_imu_corrected_, pub_imu_remapped_, pub_pose_from_origin_, pub_slope_;
+ int imu_x_axis_, imu_y_axis_, imu_z_axis_;
+ bool imu_x_neg_, imu_y_neg_, imu_z_neg_;
+ ProcessorMotionPtr processor_motion_ptr_;
+
+ public:
+ // Constructor
+ SubscriberImu(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr);
+ WOLF_SUBSCRIBER_CREATE(SubscriberImu);
+
+ virtual void initialize(ros::NodeHandle& nh, const std::string& topic);
+
+ void callback(const sensor_msgs::Imu::ConstPtr& msg);
+};
+WOLF_REGISTER_SUBSCRIBER(SubscriberImu)
+
+}
+#endif
diff --git a/include/subscriber_imu_enableable.h b/include/subscriber_imu_enableable.h
new file mode 100644
index 0000000000000000000000000000000000000000..eb255917d7c48c06622272369893be42fa883e02
--- /dev/null
+++ b/include/subscriber_imu_enableable.h
@@ -0,0 +1,94 @@
+//--------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 WOLF_SUBSCRIBER_IMU_ENABLEABLE_H_
+#define WOLF_SUBSCRIBER_IMU_ENABLEABLE_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 <imu/capture/capture_imu.h>
+#include <imu/sensor/sensor_imu.h>
+
+/**************************
+ * ROS includes *
+ **************************/
+#include <ros/ros.h>
+#include <sensor_msgs/Imu.h>
+#include <std_msgs/Bool.h>
+
+/**************************
+ * STD includes *
+ **************************/
+#include <iostream>
+#include <iomanip>
+#include <queue>
+
+/**************************
+ * WOLF-ROS includes *
+ **************************/
+#include "subscriber_imu.h"
+
+namespace wolf
+{
+
+class SubscriberImuEnableable : public SubscriberImu
+{
+ protected:
+ // enablable
+ ros::Subscriber enable_sub_;
+ bool enabled_;
+ std::string topic_enable_;
+ // static initialization
+ double duration_init_static_;
+ TimeStamp first_ts_;
+ FrameBasePtr last_frame_;
+ ProcessorMotionPtr processor_motion_;
+
+ // LOW PASS FILTER
+ bool lowpass_filter_;
+ double lowpass_alpha_;
+ sensor_msgs::Imu::Ptr filtered_msg_;
+ Eigen::Vector6d filtered_vector_;
+ ros::Publisher pub_filtered_imu_;
+
+ public:
+ // Constructor
+ SubscriberImuEnableable(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr);
+ WOLF_SUBSCRIBER_CREATE(SubscriberImuEnableable);
+
+ virtual void initialize(ros::NodeHandle& nh, const std::string& topic);
+
+ void callback(const sensor_msgs::Imu::ConstPtr& msg);
+
+ void enableCallback(const std_msgs::Bool::ConstPtr& msg);
+
+};
+WOLF_REGISTER_SUBSCRIBER(SubscriberImuEnableable)
+
+}
+#endif
diff --git a/include/wolf_subscriber_imu.h b/include/wolf_subscriber_imu.h
deleted file mode 100644
index b05cf2c169630503a7dbce3ece21c5b8b276b9e9..0000000000000000000000000000000000000000
--- a/include/wolf_subscriber_imu.h
+++ /dev/null
@@ -1,44 +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_imu.h>
-#include <gnss/sensor/sensor_imu.h>
-
-/**************************
- * ROS includes *
- **************************/
-#include <ros/ros.h>
-#include <sensor_msgs/Imu.h>
-
-/**************************
- * STD includes *
- **************************/
-#include <iostream>
-#include <iomanip>
-#include <queue>
-
-/**************************
- * WOLF-ROS includes *
- **************************/
-#include "wolf_subscriber.h"
-#include "subscriber_factory.h"
-
-using namespace wolf;
-
-class WolfSubscriberImu : public WolfSubscriber
-{
- public:
- // Constructor
- WolfSubscriberImu(const SensorBasePtr& sensor_ptr);
-
- virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
-
- void callback(const sensor_msgs::Imu::ConstPtr& msg);
-
- static std::shared_ptr<SubscriberWrapper> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
-};
-WOLF_REGISTER_SUBSCRIBER(WolfSubscriberImu)
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/src/publisher_imu_bias.cpp b/src/publisher_imu_bias.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..cc842f2fcec73fcc8b5f47d39fd2698521501b8c
--- /dev/null
+++ b/src/publisher_imu_bias.cpp
@@ -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--------
+#include "publisher_imu_bias.h"
+#include <ros/ros.h>
+#include "tf/transform_datatypes.h"
+#include <geometry_msgs/Vector3.h>
+
+namespace wolf
+{
+
+PublisherImuBias::PublisherImuBias(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const ProblemPtr _problem) :
+ Publisher(_unique_name, _server, _problem)
+{
+ sensor_imu_ = std::static_pointer_cast<SensorImu>(_problem->getSensor(_server.getParam<std::string>(prefix_ + "/sensor_name")));
+}
+
+void PublisherImuBias::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+ pub_accel_ = nh.advertise<geometry_msgs::Vector3>(topic + "_bias_accel", 1);
+ pub_gyro_ = nh.advertise<geometry_msgs::Vector3>(topic + "_bias_gyro", 1);
+}
+
+void PublisherImuBias::publishDerived()
+{
+ // Fill PoseStamped msg
+ geometry_msgs::Vector3 accel_bias_msg, gyro_bias_msg;
+
+ Eigen::Vector3d accel_bias = sensor_imu_->getIntrinsic()->getState().head(3);
+ Eigen::Vector3d gyro_bias = sensor_imu_->getIntrinsic()->getState().tail(3);
+
+ accel_bias_msg.x = accel_bias(0);
+ accel_bias_msg.y = accel_bias(1);
+ accel_bias_msg.z = accel_bias(2);
+
+ gyro_bias_msg.x = gyro_bias(0);
+ gyro_bias_msg.y = gyro_bias(1);
+ gyro_bias_msg.z = gyro_bias(2);
+
+ pub_accel_.publish(accel_bias_msg);
+ pub_gyro_.publish(gyro_bias_msg);
+}
+
+}
diff --git a/src/publisher_map_grid_2d_gravity.cpp b/src/publisher_map_grid_2d_gravity.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..866b1002185b24a9cb750afd9868a71e6037b331
--- /dev/null
+++ b/src/publisher_map_grid_2d_gravity.cpp
@@ -0,0 +1,65 @@
+//--------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_map_grid_2d_gravity.h"
+#include <ros/ros.h>
+#include "tf/transform_datatypes.h"
+#include <geometry_msgs/Vector3.h>
+#include <visualization_msgs/MarkerArray.h>
+
+namespace wolf
+{
+
+PublisherMapGrid2dGravity::PublisherMapGrid2dGravity(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const ProblemPtr _problem) :
+ Publisher(_unique_name, _server, _problem)
+{
+ sensor_imu_ = std::static_pointer_cast<SensorImu>(_problem->getSensor(_server.getParam<std::string>(prefix_ + "/sensor_name")));
+}
+
+void PublisherMapGrid2dGravity::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+ pub_accel_ = nh.advertise<geometry_msgs::Vector3>(topic + "_bias_accel", 1);
+ pub_gyro_ = nh.advertise<geometry_msgs::Vector3>(topic + "_bias_gyro", 1);
+}
+
+void PublisherMapGrid2dGravity::publishDerived()
+{
+ // Fill PoseStamped msg
+ geometry_msgs::Vector3 accel_bias_msg, gyro_bias_msg;
+
+ Eigen::Vector3d accel_bias = sensor_imu_->getIntrinsic()->getState().head(3);
+ Eigen::Vector3d gyro_bias = sensor_imu_->getIntrinsic()->getState().tail(3);
+
+ accel_bias_msg.x = accel_bias(0);
+ accel_bias_msg.y = accel_bias(1);
+ accel_bias_msg.z = accel_bias(2);
+
+ gyro_bias_msg.x = gyro_bias(0);
+ gyro_bias_msg.y = gyro_bias(1);
+ gyro_bias_msg.z = gyro_bias(2);
+
+ pub_accel_.publish(accel_bias_msg);
+ pub_gyro_.publish(gyro_bias_msg);
+}
+
+}
diff --git a/src/subscriber_compass.cpp b/src/subscriber_compass.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..044c38a2fcc01bd72d8304371a29b92385423c4a
--- /dev/null
+++ b/src/subscriber_compass.cpp
@@ -0,0 +1,124 @@
+//--------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_compass.h"
+
+using namespace wolf;
+
+// Constructor
+SubscriberCompass::SubscriberCompass(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr) :
+ Subscriber(_unique_name, _server, _sensor_ptr),
+ sensor_compass_(std::dynamic_pointer_cast<SensorCompass>(_sensor_ptr))
+{
+ assert(sensor_compass_ != nullptr);
+
+ cov_source_ = _server.getParam<std::string>(prefix_ + "/cov_source");
+ assert(cov_source_ == "msg" or cov_source_=="sensor");
+ enableable_ = _server.getParam<bool>(prefix_ + "/enableable");
+ topic_enable_= _server.getParam<std::string>(prefix_ + "/topic_enable");
+ enabled_ = not enableable_; // if enablable -> initialize to not enabled
+
+ // AXES MAPPING
+ try
+ {
+ int imu_x_axis = _server.getParam<int>(prefix_ + "/imu_x_axis");
+ int imu_y_axis = _server.getParam<int>(prefix_ + "/imu_y_axis");
+ int imu_z_axis = _server.getParam<int>(prefix_ + "/imu_z_axis");
+ imu_x_axis_ = abs(imu_x_axis)-1;
+ imu_y_axis_ = abs(imu_y_axis)-1;
+ imu_z_axis_ = abs(imu_z_axis)-1;
+ imu_x_neg_ = imu_x_axis < 0;
+ imu_y_neg_ = imu_y_axis < 0;
+ imu_z_neg_ = imu_z_axis < 0;
+ }
+ catch(...)
+ {
+ WOLF_INFO("SubscriberCompass: parameters 'imu_x_axis'm, 'imu_y_axis' and 'imu_z_axis' not set. Using default values (1,2 and 3)");
+ imu_x_axis_ = 0;
+ imu_y_axis_ = 1;
+ imu_z_axis_ = 2;
+ imu_x_neg_ = false;
+ imu_y_neg_ = false;
+ imu_z_neg_ = false;
+ }
+ if (imu_x_axis_ < 0 or imu_x_axis_ > 2 or
+ imu_y_axis_ < 0 or imu_y_axis_ > 2 or
+ imu_z_axis_ < 0 or imu_z_axis_ > 2 or
+ imu_x_axis_ == imu_y_axis_ or
+ imu_x_axis_ == imu_z_axis_ or
+ imu_y_axis_ == imu_z_axis_)
+ //TODO: add check right-handed axes
+ {
+ throw(std::runtime_error("SubscriberCompass: parameters 'imu_x_axis'm, 'imu_y_axis' and 'imu_z_axis' wrongly specified. Should be +/-1, +/-2 or +/-3 without repetitions."));
+ }
+}
+
+void SubscriberCompass::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+ sub_ = nh.subscribe(topic, 1, &SubscriberCompass::callback, this);
+ if (enableable_)
+ sub_enable_ = nh.subscribe(topic_enable_, 1, &SubscriberCompass::callbackEnable, this);
+}
+
+void SubscriberCompass::callback(const sensor_msgs::MagneticField::ConstPtr& msg)
+{
+ ROS_DEBUG("callback Magnetic Field!");
+
+ updateLastHeader(msg->header);
+
+ if (not enabled_)
+ return;
+
+ Eigen::Vector3d data;
+ data(imu_x_axis_) = imu_x_neg_ ? -msg->magnetic_field.x : msg->magnetic_field.x;
+ data(imu_y_axis_) = imu_y_neg_ ? -msg->magnetic_field.y : msg->magnetic_field.y;
+ data(imu_z_axis_) = imu_z_neg_ ? -msg->magnetic_field.z : msg->magnetic_field.z;
+
+ WOLF_DEBUG("data = ", data.transpose());
+
+ Eigen::Matrix3d cov(Eigen::Matrix3d::Zero());
+ if (cov_source_=="msg")
+ cov = Eigen::Map<const Eigen::Matrix3d>(msg->magnetic_field_covariance.data());
+
+ if (cov_source_=="sensor" or cov.isApprox(Eigen::Matrix3d::Zero(), 1e-9) )
+ cov = sensor_compass_->computeMeasurementCovariance(data);
+
+ // Create capture and process
+ auto capture = std::make_shared<CaptureCompass>(TimeStamp(msg->header.stamp.sec,
+ msg->header.stamp.nsec),
+ sensor_ptr_,
+ data,
+ cov);
+ capture->process();
+}
+
+
+
+void SubscriberCompass::callbackEnable(const std_msgs::Bool::ConstPtr& msg)
+{
+ if (not enabled_ and msg->data)
+ ROS_INFO("Compass has been enabled!");
+ if (enabled_ and !msg->data)
+ ROS_INFO("Compass has been disabled!");
+ enabled_ = msg->data;
+}
diff --git a/src/subscriber_imu.cpp b/src/subscriber_imu.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f4381c1ee51a9bc393c52fe2f3f4a6ff97ca248d
--- /dev/null
+++ b/src/subscriber_imu.cpp
@@ -0,0 +1,363 @@
+//--------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_imu.h"
+#include "imu/capture/capture_imu.h"
+#include "imu/sensor/sensor_imu.h"
+#include "imu/sensor/sensor_imu2d.h"
+#include <geometry_msgs/Vector3.h>
+#include <geometry_msgs/Vector3Stamped.h>
+#include <geometry_msgs/PoseStamped.h>
+#include "core/math/SE3.h"
+#include "core/math/SE2.h"
+
+using namespace wolf;
+
+// Constructor
+SubscriberImu::SubscriberImu(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr) :
+ Subscriber(_unique_name, _server, _sensor_ptr)
+{
+ assert((_sensor_ptr->getProblem()->getDim() == 3 or _sensor_ptr->getProblem()->getDim() == 2) && "the problem's dimmension should be 2 or 3");
+ assert(_sensor_ptr->getProblem()->getDim() != 3 or std::dynamic_pointer_cast<SensorImu>(_sensor_ptr) != nullptr);
+ assert(_sensor_ptr->getProblem()->getDim() != 2 or std::dynamic_pointer_cast<SensorImu2d>(_sensor_ptr) != nullptr);
+
+ non_orthogonal_gravity_ = std::dynamic_pointer_cast<SensorImu2d>(sensor_ptr_) != nullptr and
+ not std::static_pointer_cast<SensorImu2d>(sensor_ptr_)->isGravityOrthogonal();
+
+ cov_source_ = _server.getParam<std::string>(prefix_ + "/cov_source");
+ assert(cov_source_ == "msg" or cov_source_=="sensor");
+
+ in_degrees_ = getParamWithDefault<bool>(_server, prefix_ + "/in_degrees", false);
+
+ // AXES MAPPING
+ int imu_x_axis = getParamWithDefault<int>(_server, prefix_ + "/imu_x_axis", 1);
+ int imu_y_axis = getParamWithDefault<int>(_server, prefix_ + "/imu_y_axis", 2);
+ int imu_z_axis = getParamWithDefault<int>(_server, prefix_ + "/imu_z_axis", 3);
+ imu_x_axis_ = abs(imu_x_axis)-1;
+ imu_y_axis_ = abs(imu_y_axis)-1;
+ imu_z_axis_ = abs(imu_z_axis)-1;
+ imu_x_neg_ = imu_x_axis < 0;
+ imu_y_neg_ = imu_y_axis < 0;
+ imu_z_neg_ = imu_z_axis < 0;
+
+ if (imu_x_axis_ < 0 or imu_x_axis_ > 2 or
+ imu_y_axis_ < 0 or imu_y_axis_ > 2 or
+ imu_z_axis_ < 0 or imu_z_axis_ > 2 or
+ imu_x_axis_ == imu_y_axis_ or
+ imu_x_axis_ == imu_z_axis_ or
+ imu_y_axis_ == imu_z_axis_)
+ //TODO: add check right-handed axes
+ {
+ throw(std::runtime_error("SubscriberImu: parameters 'imu_x_axis'm, 'imu_y_axis' and 'imu_z_axis' wrongly specified. Should be +/-1, +/-2 or +/-3 without repetitions."));
+ }
+}
+
+void SubscriberImu::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+ sub_ = nh.subscribe(topic, 100, &SubscriberImu::callback, this);
+
+ pub_bias_accel_ = nh.advertise<geometry_msgs::Vector3> (topic + "_bias_accel", 1);
+ pub_bias_gyro_ = nh.advertise<geometry_msgs::Vector3> (topic + "_bias_gyro", 1);
+ pub_imu_corrected_ = nh.advertise<sensor_msgs::Imu> (topic + "_corrected", 1);
+ pub_imu_remapped_ = nh.advertise<sensor_msgs::Imu> (topic + "_remapped", 1);
+ pub_pose_from_origin_ = nh.advertise<geometry_msgs::PoseStamped> (topic + "_pose_from_origin", 1);
+ pub_slope_ = nh.advertise<geometry_msgs::Vector3Stamped> (topic + "_slope_and_orientation", 1);
+}
+
+void SubscriberImu::callback(const sensor_msgs::Imu::ConstPtr& msg)
+{
+ ROS_DEBUG("callback Imu!");
+
+ updateLastHeader(msg->header);
+
+ Eigen::Vector6d data;
+
+ // accelerometer
+ data(imu_x_axis_) = imu_x_neg_ ? -msg->linear_acceleration.x : msg->linear_acceleration.x;
+ data(imu_y_axis_) = imu_y_neg_ ? -msg->linear_acceleration.y : msg->linear_acceleration.y;
+ data(imu_z_axis_) = imu_z_neg_ ? -msg->linear_acceleration.z : msg->linear_acceleration.z;
+ // gyroscope
+ data(imu_x_axis_+3) = (imu_x_neg_ ? -msg->angular_velocity.x : msg->angular_velocity.x) * (in_degrees_ ? M_PI/180.0 : 1.0);
+ data(imu_y_axis_+3) = (imu_y_neg_ ? -msg->angular_velocity.y : msg->angular_velocity.y) * (in_degrees_ ? M_PI/180.0 : 1.0);
+ data(imu_z_axis_+3) = (imu_z_neg_ ? -msg->angular_velocity.z : msg->angular_velocity.z) * (in_degrees_ ? M_PI/180.0 : 1.0);
+
+ //WOLF_INFO("imu_x_axis_ = ", imu_x_neg_ ? -(imu_x_axis_+1) : (imu_x_axis_+1));
+ //WOLF_INFO("imu_y_axis_ = ", imu_y_neg_ ? -(imu_y_axis_+1) : (imu_y_axis_+1));
+ //WOLF_INFO("imu_z_axis_ = ", imu_z_neg_ ? -(imu_z_axis_+1) : (imu_z_axis_+1));
+ //WOLF_INFO("data = ", data.transpose());
+
+ Eigen::Matrix6d cov(Eigen::Matrix6d::Zero());
+ if (cov_source_=="msg")
+ {
+ cov.topLeftCorner<3,3>() = Eigen::Map<const Eigen::Matrix3d>(msg->linear_acceleration_covariance.data());
+ cov.bottomRightCorner<3,3>() = Eigen::Map<const Eigen::Matrix3d>(msg->angular_velocity_covariance.data());
+ if (in_degrees_)
+ cov.bottomRightCorner<3,3>() *= std::pow(M_PI/180.0, 2);
+ // TODO: apply mapping?
+ }
+
+ // if covariance not filled or manual mode
+ if (cov_source_=="sensor" or
+ cov.topLeftCorner<3,3>().isApprox(Eigen::Matrix3d::Zero(),1e-9) or
+ cov.bottomRightCorner<3,3>().isApprox(Eigen::Matrix3d::Zero(),1e-9))
+ {
+ if(sensor_ptr_->getProblem()->getDim() == 3)
+ {
+ cov = sensor_ptr_->getNoiseCov();
+ }
+ else
+ {
+ cov.topLeftCorner<2,2>() = sensor_ptr_->getNoiseCov().topLeftCorner<2,2>();
+ cov.topRightCorner<2,1>() = sensor_ptr_->getNoiseCov().topRightCorner<2,1>();
+ cov.bottomLeftCorner<1,2>() = sensor_ptr_->getNoiseCov().bottomLeftCorner<1,2>();
+ cov(5,5) = sensor_ptr_->getNoiseCov()(2,2);
+ }
+ }
+ // Create capture and process
+ auto capture = std::make_shared<CaptureImu>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
+ sensor_ptr_,
+ data,
+ cov);
+ capture->process();
+
+
+ // PUBLISH BIASES AND CORRECTED IMU DATA (unbiased and without gravity)
+ // Nothing else to do if no subscribers
+ if (pub_bias_accel_.getNumSubscribers() == 0 and
+ pub_bias_gyro_.getNumSubscribers() == 0 and
+ pub_imu_corrected_.getNumSubscribers() == 0 and
+ pub_imu_remapped_.getNumSubscribers() == 0)
+ return;
+
+ // get biases
+ Eigen::VectorXd bias = sensor_ptr_->getIntrinsic()->getState();
+
+ // Accelerometers
+ if (pub_bias_accel_.getNumSubscribers() != 0)
+ {
+ geometry_msgs::Vector3 accel_bias_msg;
+
+ accel_bias_msg.x = bias(0);
+ accel_bias_msg.y = bias(1);
+ accel_bias_msg.z = (sensor_ptr_->getProblem()->getDim() == 3 ? bias(2):0);
+
+ pub_bias_accel_.publish(accel_bias_msg);
+ }
+
+ // Gyros
+ if (pub_bias_gyro_.getNumSubscribers() != 0)
+ {
+ geometry_msgs::Vector3 gyro_bias_msg;
+
+ if(sensor_ptr_->getProblem()->getDim() == 3)
+ {
+ gyro_bias_msg.x = bias(3);
+ gyro_bias_msg.y = bias(4);
+ gyro_bias_msg.z = bias(5);
+ }
+ if(sensor_ptr_->getProblem()->getDim() == 2)
+ {
+ gyro_bias_msg.x = 0;
+ gyro_bias_msg.y = 0;
+ gyro_bias_msg.z = bias(2);
+ }
+
+ pub_bias_gyro_.publish(gyro_bias_msg);
+ }
+
+ // Publish IMU message without bias and gravity
+ if (pub_imu_corrected_.getNumSubscribers() != 0)
+ {
+ if (sensor_ptr_->getProblem()->getDim() == 3)
+ {
+ // current orientation
+ auto q = Eigen::Quaterniond(Eigen::Vector4d(sensor_ptr_->getProblem()->getState("O")['O']));
+
+ // correct bias
+ Eigen::Vector6d data_corrected = data - bias;
+
+ // remove gravity
+ data_corrected.head<3>() += q.conjugate() * gravity();
+
+ // fill and publish
+ sensor_msgs::Imu imu_corrected = *msg;
+
+ imu_corrected.linear_acceleration.x = data_corrected(0);
+ imu_corrected.linear_acceleration.y = data_corrected(1);
+ imu_corrected.linear_acceleration.z = data_corrected(2);
+ imu_corrected.angular_velocity.x = data_corrected(3);
+ imu_corrected.angular_velocity.y = data_corrected(4);
+ imu_corrected.angular_velocity.z = data_corrected(5);
+
+ pub_imu_corrected_.publish(imu_corrected);
+ }
+ else
+ {
+ // fill and publish
+ sensor_msgs::Imu imu_corrected = *msg;
+
+ imu_corrected.linear_acceleration.x = data(0) - bias(0);
+ imu_corrected.linear_acceleration.y = data(1) - bias(1);
+ imu_corrected.linear_acceleration.z = data(2);
+ imu_corrected.angular_velocity.x = data(3);
+ imu_corrected.angular_velocity.y = data(4);
+ imu_corrected.angular_velocity.z = data(5) - bias(2);
+
+ pub_imu_corrected_.publish(imu_corrected);
+ }
+ }
+ // Publish IMU message with axis remapping
+ if (pub_imu_remapped_.getNumSubscribers() != 0)
+ {
+ // fill and publish
+ sensor_msgs::Imu imu_remapped = *msg;
+ if(imu_remapped.header.frame_id == "")
+ imu_remapped.header.frame_id = "imu";
+
+ imu_remapped.linear_acceleration.x = data(0);
+ imu_remapped.linear_acceleration.y = data(1);
+ imu_remapped.linear_acceleration.z = data(2);
+ imu_remapped.angular_velocity.x = data(3);
+ imu_remapped.angular_velocity.y = data(4);
+ imu_remapped.angular_velocity.z = data(5);
+
+ pub_imu_remapped_.publish(imu_remapped);
+ }
+ // Publish current relative pose w.r.t. origin pose
+ if (pub_pose_from_origin_.getNumSubscribers() != 0)
+ {
+ // initialize processor_motion pointer
+ if (not processor_motion_ptr_)
+ for (auto proc : sensor_ptr_->getProcessorList())
+ {
+ processor_motion_ptr_ = std::dynamic_pointer_cast<ProcessorMotion>(proc);
+ if (processor_motion_ptr_ != nullptr)
+ break;
+ }
+
+ // abort if no processor_motion (strange...)
+ if (not processor_motion_ptr_)
+ {
+ WOLF_WARN("SubscriberImu: No processor of type ProcessorMotion in the SensorImu...?");
+ return;
+ }
+
+ // still no origin?
+ if (not processor_motion_ptr_->getOrigin())
+ return;
+
+ // get current and origin states
+ auto origin_ts = processor_motion_ptr_->getOrigin()->getTimeStamp();
+ auto origin_state = processor_motion_ptr_->getOrigin()->getFrame()->getState("PO");
+ auto current_state = processor_motion_ptr_->getState("PO");
+ auto current_ts = processor_motion_ptr_->getTimeStamp();
+ if (not origin_state.includesStructure("PO") or not current_state.includesStructure("PO"))
+ return;
+
+ // Fill message
+ geometry_msgs::PoseStamped pose_msg;
+ auto dt = current_ts - origin_ts;
+ pose_msg.header.stamp = ros::Time(dt);
+
+ // 3D
+ if(sensor_ptr_->getProblem()->getDim() == 3)
+ {
+ auto pose_from_origin = SE3::between(origin_state.vector("PO"), current_state.vector("PO"));
+
+ pose_msg.pose.position.x = pose_from_origin(0);
+ pose_msg.pose.position.y = pose_from_origin(1);
+ pose_msg.pose.position.z = pose_from_origin(2);
+ pose_msg.pose.orientation.x = pose_from_origin(3);
+ pose_msg.pose.orientation.y = pose_from_origin(4);
+ pose_msg.pose.orientation.z = pose_from_origin(5);
+ pose_msg.pose.orientation.w = pose_from_origin(6);
+ }
+ // 2D
+ else
+ {
+ auto pose_from_origin = SE2::between(origin_state.vector("PO"), current_state.vector("PO"));
+
+ auto q_from_origin = Eigen::Quaterniond(Eigen::AngleAxisd(pose_from_origin(2),
+ Eigen::Vector3d::UnitZ()));
+
+ pose_msg.pose.position.x = pose_from_origin(0);
+ pose_msg.pose.position.y = pose_from_origin(1);
+ pose_msg.pose.position.z = 0;
+ pose_msg.pose.orientation.x = q_from_origin.x();
+ pose_msg.pose.orientation.y = q_from_origin.y();
+ pose_msg.pose.orientation.z = q_from_origin.z();
+ pose_msg.pose.orientation.w = q_from_origin.w();
+ }
+
+ pub_pose_from_origin_.publish(pose_msg);
+ }
+ // Publish gravity projection onto sloped 2D plane
+ if (pub_slope_.getNumSubscribers() != 0)
+ {
+ double slope, orientation;
+
+ if (non_orthogonal_gravity_)
+ {
+ Eigen::Vector2d g_local_xy = std::static_pointer_cast<SensorImu2d>(sensor_ptr_)->getStateVector("G");
+ slope = asin(g_local_xy.norm() / gravity().norm());
+ orientation = atan2(g_local_xy(1),g_local_xy(0));
+ }
+
+ else if (std::dynamic_pointer_cast<SensorImu>(sensor_ptr_) != nullptr)
+ {
+ // auto q_frame = Eigen::Quaterniond(Eigen::Vector4d(sensor_ptr_->getProblem()->getTrajectory()->getFirstFrame()->getStateVector("O")));
+ // auto g_local_xy = (q_frame.conjugate() * gravity()).head<2>();
+ // slope = asin(g_local_xy.norm() / gravity().norm());
+ // orientation = atan2(g_local_xy(1),g_local_xy(0));
+
+ slope = 0;
+ auto n_frames = 0;
+ for (auto frm_it : sensor_ptr_->getProblem()->getTrajectory()->getFrameMap())
+ {
+ auto q_frame = Eigen::Quaterniond(Eigen::Vector4d(frm_it.second->getStateVector("O")));
+ auto g_local_xy = (q_frame.conjugate() * gravity()).head<2>();
+
+ slope += asin(g_local_xy.norm() / gravity().norm());
+
+ if (n_frames == 0)
+ orientation = atan2(g_local_xy(1),g_local_xy(0));
+
+ n_frames++;
+ }
+ slope /= n_frames;
+ }
+ else
+ return;
+
+ // Fill msg
+ geometry_msgs::Vector3Stamped g_msg;
+ g_msg.header.stamp = msg->header.stamp;
+ g_msg.header.frame_id = "/map";
+ g_msg.vector.x = slope;
+ g_msg.vector.y = orientation;
+ g_msg.vector.z = 0;
+
+ // publish
+ pub_slope_.publish(g_msg);
+ }
+}
diff --git a/src/subscriber_imu_enableable.cpp b/src/subscriber_imu_enableable.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4daa5895eb0adbb3baf21e94ffac707d85bb1fdc
--- /dev/null
+++ b/src/subscriber_imu_enableable.cpp
@@ -0,0 +1,204 @@
+//--------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_imu_enableable.h"
+
+#include <core/factor/factor_relative_pose_3d.h>
+#include <core/factor/factor_relative_pose_2d.h>
+#include "core/capture/capture_void.h"
+#include "core/processor/processor_motion.h"
+
+namespace wolf
+{
+
+// Constructor
+SubscriberImuEnableable::SubscriberImuEnableable(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr) :
+ SubscriberImu(_unique_name, _server, _sensor_ptr),
+ enabled_(false),
+ last_frame_(nullptr),
+ filtered_msg_(boost::make_shared<sensor_msgs::Imu>()),
+ filtered_vector_(Eigen::Vector6d::Zero())
+{
+ topic_enable_ = _server.getParam<std::string>(prefix_ + "/topic_enable");
+ duration_init_static_ = _server.getParam<double>(prefix_ + "/static_init_duration");
+ lowpass_filter_ = _server.getParam<bool>(prefix_ + "/lowpass_filter");
+ if (lowpass_filter_)
+ {
+ double fc = _server.getParam<double>(prefix_ + "/lowpass_cutoff_freq");
+ double dt = _server.getParam<double>(prefix_ + "/dt");
+ lowpass_alpha_ = (2 * M_PI * dt * fc) / (2 * M_PI * dt * fc + 1);
+ }
+
+ for (auto proc : sensor_ptr_->getProcessorList())
+ {
+ processor_motion_ = std::dynamic_pointer_cast<ProcessorMotion>(proc);
+
+ if (processor_motion_)
+ break;
+ }
+ assert(processor_motion_ && "SubscriberImuEnableable: no processorMotion was found in the sensor IMU processor list");
+}
+
+void SubscriberImuEnableable::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+ SubscriberImu::initialize(nh,topic);
+ sub_ = nh.subscribe(topic, 10, &SubscriberImuEnableable::callback, this);
+ enable_sub_ = nh.subscribe(topic_enable_, 1, &SubscriberImuEnableable::enableCallback, this);
+
+ if (lowpass_filter_)
+ pub_filtered_imu_ = nh.advertise<sensor_msgs::Imu>(topic + "_imu_filtered", 1);
+}
+
+void SubscriberImuEnableable::callback(const sensor_msgs::Imu::ConstPtr& msg)
+{
+ // LOW PASS FILTER
+ if (lowpass_filter_)
+ {
+ Eigen::Vector6d input_vector;
+
+ input_vector << msg->angular_velocity.x,
+ msg->angular_velocity.y,
+ msg->angular_velocity.z,
+ msg->linear_acceleration.x,
+ msg->linear_acceleration.y,
+ msg->linear_acceleration.z;
+
+ // filter
+ if (filtered_vector_.isZero(1e-9)) // first time
+ filtered_vector_ = input_vector;
+ else
+ filtered_vector_ = lowpass_alpha_ * input_vector + (1 - lowpass_alpha_) * filtered_vector_;
+
+ // store output
+ *filtered_msg_ = *msg;
+ filtered_msg_->angular_velocity.x = filtered_vector_(0);
+ filtered_msg_->angular_velocity.y = filtered_vector_(1);
+ filtered_msg_->angular_velocity.z = filtered_vector_(2);
+ filtered_msg_->linear_acceleration.x = filtered_vector_(3);
+ filtered_msg_->linear_acceleration.y = filtered_vector_(4);
+ filtered_msg_->linear_acceleration.z = filtered_vector_(5);
+
+ // publish
+ pub_filtered_imu_.publish(filtered_msg_);
+ }
+
+ // PROCESS DATA
+ if (enabled_)
+ {
+ if (lowpass_filter_)
+ SubscriberImu::callback(filtered_msg_);
+ else
+ SubscriberImu::callback(msg);
+
+ /* STATIC INITIALIZATION
+ * impose zero velocity and same position & orientation to the frames within the first 'duration_init_static_' seconds
+ */
+ if (duration_init_static_ > 0)
+ {
+ // store first frame
+ if (not last_frame_)
+ {
+ last_frame_ = processor_motion_->getOrigin()->getFrame();
+ first_ts_ = last_frame_->getTimeStamp();
+
+ // impose zero velocity
+ last_frame_->getV()->setZero();
+ last_frame_->getV()->fix();
+
+ // impose zero odometry
+ processor_motion_->setOdometry(sensor_ptr_->getProblem()->stateZero(processor_motion_->getStateStructure()));
+ }
+ else
+ {
+ assert(processor_motion_->getOrigin() && "SubscriberImuEnableable::callback: nullptr origin");
+ assert(processor_motion_->getOrigin()->getFrame() && "SubscriberImuEnableable::callback: nullptr origin frame");
+
+ // new frame
+ if (last_frame_ != processor_motion_->getOrigin()->getFrame())
+ {
+ // within the specified init duration?
+ if (processor_motion_->getOrigin()->getFrame()->getTimeStamp() - first_ts_ < duration_init_static_)
+ {
+ last_frame_ = processor_motion_->getOrigin()->getFrame();
+
+ // impose zero velocity
+ last_frame_->getV()->setZero();
+ last_frame_->getV()->fix();
+
+ // impose zero odometry
+ processor_motion_->setOdometry(sensor_ptr_->getProblem()->stateZero(processor_motion_->getStateStructure()));
+
+ // add zero displacement and rotation capture & feature & factor with all previous frames
+ assert(sensor_ptr_->getProblem());
+ auto size = sensor_ptr_->getProblem()->getDim() == 3 ? 7:3;
+ auto cov_size = sensor_ptr_->getProblem()->getDim() == 3 ? 6:3;
+ Eigen::VectorXd zero_motion = Eigen::VectorXd::Zero(size);
+ if(sensor_ptr_->getProblem()->getDim() == 3)
+ zero_motion.tail<4>() = Eigen::Quaterniond::Identity().coeffs();
+ for (auto frm_pair = sensor_ptr_->getProblem()->getTrajectory()->begin();
+ frm_pair != sensor_ptr_->getProblem()->getTrajectory()->end();
+ frm_pair++)
+ {
+ if (frm_pair->second == last_frame_)
+ break;
+ auto capture_zero = CaptureBase::emplace<CaptureVoid>(last_frame_, last_frame_->getTimeStamp(), nullptr);
+ auto feature_zero = FeatureBase::emplace<FeatureBase>(capture_zero,
+ "FeatureZeroOdom",
+ zero_motion,
+ Eigen::MatrixXd::Identity(cov_size,cov_size) * 0.01);
+ if(sensor_ptr_->getProblem()->getDim() == 3)
+ FactorBase::emplace<FactorRelativePose3d>(feature_zero,
+ feature_zero,
+ frm_pair->second,
+ nullptr,
+ false,
+ TOP_MOTION);
+ else
+ FactorBase::emplace<FactorRelativePose2d>(feature_zero,
+ feature_zero,
+ frm_pair->second,
+ nullptr,
+ false,
+ TOP_MOTION);
+
+ }
+ }
+ // static initialization ended
+ else
+ duration_init_static_ = -1;
+ }
+ }
+ }
+ }
+}
+
+void SubscriberImuEnableable::enableCallback(const std_msgs::Bool::ConstPtr& msg)
+{
+ if (!enabled_ and msg->data)
+ ROS_INFO("IMU has been enabled!");
+ if (enabled_ and !msg->data)
+ ROS_INFO("IMU has been disabled!");
+ enabled_ = msg->data;
+}
+
+}
diff --git a/src/wolf_subscriber_imu.cpp b/src/wolf_subscriber_imu.cpp
deleted file mode 100644
index c406ff788ad15d7f2d801071aa49922da2fc19c6..0000000000000000000000000000000000000000
--- a/src/wolf_subscriber_imu.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-#include "../include/wolf_subscriber_imu.h"
-
-using namespace wolf;
-
-// Constructor
-WolfSubscriberImu::WolfSubscriberImu(const SensorBasePtr& sensor_ptr) :
- Subscriber(sensor_ptr)
-{
-}
-
-void WolfSubscriberImu::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
-{
- sub_ = nh.subscribe(topic, 1, &WolfSubscriberImu::callback, this);
-}
-
-void WolfSubscriberImu::callback(const sensor_msgs::Imu::ConstPtr& msg)
-{
- ROS_INFO("callback IMU!");
-// if (last_nav_ptr_==nullptr)
-// return;
-//
-// 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();
-}
-
-std::shared_ptr<WolfSubscriber> WolfSubscriberImu::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
-{
- return std::make_shared<WolfSubscriberImu>(_sensor_ptr);
-}