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Only subscribe to robot's pose, while GPS is enabled. #4

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Only subscribe to robot's pose, while GPS is enabled. #4

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66 changes: 37 additions & 29 deletions src/xbot_positioning.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,13 +67,12 @@ nav_msgs::Odometry odometry;
xbot_positioning::KalmanState state_msg;
xbot_msgs::AbsolutePose xb_absolute_pose_msg;

bool gps_enabled = true;
int gps_outlier_count = 0;
int valid_gps_samples = 0;
int gps_message_throttle=1;

ros::Time last_gps_time(0.0);

ros::NodeHandle *paramNh;

void onImu(const sensor_msgs::Imu::ConstPtr &msg) {
if(!has_gyro) {
Expand Down Expand Up @@ -160,7 +159,7 @@ void onImu(const sensor_msgs::Imu::ConstPtr &msg) {
xb_absolute_pose_msg.flags |= xbot_msgs::AbsolutePose::FLAG_SENSOR_FUSION_RECENT_ABSOLUTE_POSE;
} else {
// on GPS timeout, we set accuracy to 0.
xb_absolute_pose_msg.position_accuracy = 999;
xb_absolute_pose_msg.position_accuracy = 998;
}
// TODO: set real value
xb_absolute_pose_msg.orientation_accuracy = 0.01;
Expand Down Expand Up @@ -199,11 +198,6 @@ void onWheelTicks(const xbot_msgs::WheelTick::ConstPtr &msg) {
last_ticks = *msg;
}

bool setGpsState(xbot_positioning::GPSControlSrvRequest &req, xbot_positioning::GPSControlSrvResponse &res) {
gps_enabled = req.gps_enabled;
return true;
}

bool setPose(xbot_positioning::SetPoseSrvRequest &req, xbot_positioning::SetPoseSrvResponse &res) {
tf2::Quaternion q;
tf2::fromMsg(req.robot_pose.orientation, q);
Expand All @@ -218,10 +212,7 @@ bool setPose(xbot_positioning::SetPoseSrvRequest &req, xbot_positioning::SetPose
}

void onPose(const xbot_msgs::AbsolutePose::ConstPtr &msg) {
if(!gps_enabled) {
ROS_INFO_STREAM_THROTTLE(gps_message_throttle, "dropping GPS update, since gps_enabled = false.");
return;
}

// TODO fuse with high covariance?
if((msg->flags & (xbot_msgs::AbsolutePose::FLAG_GPS_RTK_FIXED)) == 0) {
ROS_INFO_STREAM_THROTTLE(1, "Dropped GPS update, since it's not RTK Fixed");
Expand Down Expand Up @@ -300,11 +291,27 @@ void onPose(const xbot_msgs::AbsolutePose::ConstPtr &msg) {

}

static void set_gps_state(bool enable) {
static bool gps_enabled=false;
static ros::Subscriber pose_sub;
if (enable!=gps_enabled) {
if ((gps_enabled=enable)) {
pose_sub=paramNh->subscribe("xb_pose_in", 10, onPose);
} else {
pose_sub.shutdown();
}
}
}

bool setGpsState(xbot_positioning::GPSControlSrvRequest &req, xbot_positioning::GPSControlSrvResponse &res) {
set_gps_state(req.gps_enabled);
return true;
}

int main(int argc, char **argv) {
ros::init(argc, argv, "xbot_positioning");

has_gps = false;
gps_enabled = true;
vx = 0.0;
has_gyro = false;
has_ticks = false;
Expand All @@ -317,19 +324,19 @@ int main(int argc, char **argv) {
antenna_offset_x = antenna_offset_y = 0;

ros::NodeHandle n;
ros::NodeHandle paramNh("~");
paramNh=new ros::NodeHandle("~");


ros::ServiceServer gps_service = n.advertiseService("xbot_positioning/set_gps_state", setGpsState);
ros::ServiceServer pose_service = n.advertiseService("xbot_positioning/set_robot_pose", setPose);

paramNh.param("skip_gyro_calibration", skip_gyro_calibration, false);
paramNh.param("gyro_offset", gyro_offset, 0.0);
paramNh.param("min_speed", min_speed, 0.01);
paramNh.param("max_gps_accuracy", max_gps_accuracy, 0.1);
paramNh.param("debug", publish_debug, false);
paramNh.param("antenna_offset_x", antenna_offset_x, 0.0);
paramNh.param("antenna_offset_y", antenna_offset_y, 0.0);
paramNh.param("gps_message_throttle", gps_message_throttle, 1);
paramNh->param("skip_gyro_calibration", skip_gyro_calibration, false);
paramNh->param("gyro_offset", gyro_offset, 0.0);
paramNh->param("min_speed", min_speed, 0.01);
paramNh->param("max_gps_accuracy", max_gps_accuracy, 0.1);
paramNh->param("debug", publish_debug, false);
paramNh->param("antenna_offset_x", antenna_offset_x, 0.0);
paramNh->param("antenna_offset_y", antenna_offset_y, 0.0);

core.setAntennaOffset(antenna_offset_x, antenna_offset_y);

Expand All @@ -339,17 +346,18 @@ int main(int argc, char **argv) {
ROS_WARN_STREAM("Using gyro offset of: " << gyro_offset);
}

odometry_pub = paramNh.advertise<nav_msgs::Odometry>("odom_out", 50);
xbot_absolute_pose_pub = paramNh.advertise<xbot_msgs::AbsolutePose>("xb_pose_out", 50);
odometry_pub = paramNh->advertise<nav_msgs::Odometry>("odom_out", 50);
xbot_absolute_pose_pub = paramNh->advertise<xbot_msgs::AbsolutePose>("xb_pose_out", 50);
if(publish_debug) {
dbg_expected_motion_vector = paramNh.advertise<geometry_msgs::Vector3>("debug_expected_motion_vector", 50);
kalman_state = paramNh.advertise<xbot_positioning::KalmanState>("kalman_state", 50);
dbg_expected_motion_vector = paramNh->advertise<geometry_msgs::Vector3>("debug_expected_motion_vector", 50);
kalman_state = paramNh->advertise<xbot_positioning::KalmanState>("kalman_state", 50);
}

ros::Subscriber imu_sub = paramNh.subscribe("imu_in", 10, onImu);
ros::Subscriber pose_sub = paramNh.subscribe("xb_pose_in", 10, onPose);
ros::Subscriber wheel_tick_sub = paramNh.subscribe("wheel_ticks_in", 10, onWheelTicks);
ros::Subscriber imu_sub = paramNh->subscribe("imu_in", 10, onImu);
ros::Subscriber wheel_tick_sub = paramNh->subscribe("wheel_ticks_in", 10, onWheelTicks);

set_gps_state(true);

ros::spin();
return 0;
}