initial commit

CMakeLists.txt

+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)
+
+# 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
+  std_msgs
+  tf
+  dynamic_reconfigure
+  wolf_ros_node
+)
+
+## 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(wolfimu 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
+#)
+
+################################################
+## 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}
+  ${wolfimu_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+  ${CERES_INCLUDE_DIRS}
+)
+# link_directories(/usr/local/lib/iri-algorithms)
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/wolf_ros.cpp
+# )
+add_library(wolf_subscriber_imu src/wolf_subscriber_imu.cpp)
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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_imu 
+					  ${wolf_LIBRARIES} 
+					  ${wolfimu_LIBRARIES} 
+					  ${sensor_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)

README.md

+# wolf_ros_imu
+

include/wolf_subscriber_imu.h

+/**************************
+ *      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)

package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>wolf_ros_imu</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>tf</build_depend>
+  <build_depend>wolf_ros_node</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>tf</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>tf</exec_depend>
+  <exec_depend>wolf_ros_node</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/wolf_subscriber_imu.cpp

+#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);
+}