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mateusz-lichotamateusz-lichota
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replace all nh_private_ occurences with nh_
1 parent b72df7a commit 7a7b6e9

3 files changed

Lines changed: 32 additions & 34 deletions

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‎ros2/src/fsds_ros2_bridge/include/airsim_ros_wrapper.h‎

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -75,7 +75,7 @@ struct SimpleMatrix
7575
class AirsimROSWrapper
7676
{
7777
public:
78-
AirsimROSWrapper(const std::shared_ptr<rclcpp::Node>& nh, const std::shared_ptr<rclcpp::Node>& nh_private, const std::string& host_ip);
78+
AirsimROSWrapper(const std::shared_ptr<rclcpp::Node>& nh, const std::string& host_ip);
7979
~AirsimROSWrapper(){};
8080

8181
void initialize_airsim();
@@ -184,7 +184,6 @@ class AirsimROSWrapper
184184
nav_msgs::msg::Odometry message_enu_previous_;
185185

186186
std::shared_ptr<rclcpp::Node> nh_;
187-
std::shared_ptr<rclcpp::Node> nh_private_;
188187

189188
// todo not sure if async spinners shuold be inside this class, or should be instantiated in fsds_ros2_bridge.cpp, and cb queues should be public
190189
// todo for multiple drones with multiple sensors, this won't scale. make it a part of MultiRotorROS?

‎ros2/src/fsds_ros2_bridge/src/airsim_ros_wrapper.cpp‎

Lines changed: 30 additions & 31 deletions
Original file line numberDiff line numberDiff line change
@@ -6,12 +6,11 @@
66

77
using dseconds = std::chrono::duration<double>;
88

9-
AirsimROSWrapper::AirsimROSWrapper(const std::shared_ptr<rclcpp::Node>& nh, const std::shared_ptr<rclcpp::Node>& nh_private, const std::string& host_ip) : nh_(nh),
10-
nh_private_(nh_private),
11-
// lidar_async_spinner_(1, &lidar_timer_cb_queue_), // same as above, but for lidar
12-
airsim_client_(host_ip),
13-
airsim_client_lidar_(host_ip),
14-
static_tf_pub_(this->nh_private_)
9+
AirsimROSWrapper::AirsimROSWrapper(const std::shared_ptr<rclcpp::Node>& nh, const std::string& host_ip)
10+
: nh_(nh),
11+
airsim_client_(host_ip),
12+
airsim_client_lidar_(host_ip),
13+
static_tf_pub_(this->nh_)
1514
{
1615
try {
1716
auto settingsText = this->readTextFromFile(common_utils::FileSystem::getConfigFilePath());
@@ -121,34 +120,34 @@ void AirsimROSWrapper::initialize_ros()
121120
double publish_static_tf_every_n_sec;
122121
bool manual_mode;
123122

124-
mission_name_ = nh_private_->declare_parameter<std::string>("mission_name" , "");
125-
track_name_ = nh_private_->declare_parameter<std::string>("track_name" , "");
126-
competition_mode_ = nh_private_->declare_parameter<bool> ("competition_mode" , false);
127-
manual_mode = nh_private_->declare_parameter<bool> ("manual_mode" , false);
128-
update_odom_every_n_sec = nh_private_->declare_parameter<double> ("update_odom_every_n_sec" , 0.004);
129-
update_gps_every_n_sec = nh_private_->declare_parameter<double> ("update_gps_every_n_sec" , 0.1);
130-
update_imu_every_n_sec = nh_private_->declare_parameter<double> ("update_imu_every_n_sec" , 0.004);
131-
update_gss_every_n_sec = nh_private_->declare_parameter<double> ("update_gss_every_n_sec" , 0.01);
132-
publish_static_tf_every_n_sec = nh_private_->declare_parameter<double> ("publish_static_tf_every_n_sec", 1.0);
123+
mission_name_ = nh_->declare_parameter<std::string>("mission_name" , "");
124+
track_name_ = nh_->declare_parameter<std::string>("track_name" , "");
125+
competition_mode_ = nh_->declare_parameter<bool> ("competition_mode" , false);
126+
manual_mode = nh_->declare_parameter<bool> ("manual_mode" , false);
127+
update_odom_every_n_sec = nh_->declare_parameter<double> ("update_odom_every_n_sec" , 0.004);
128+
update_gps_every_n_sec = nh_->declare_parameter<double> ("update_gps_every_n_sec" , 0.1);
129+
update_imu_every_n_sec = nh_->declare_parameter<double> ("update_imu_every_n_sec" , 0.004);
130+
update_gss_every_n_sec = nh_->declare_parameter<double> ("update_gss_every_n_sec" , 0.01);
131+
publish_static_tf_every_n_sec = nh_->declare_parameter<double> ("publish_static_tf_every_n_sec", 1.0);
133132

134-
RCLCPP_INFO_STREAM(nh_private_->get_logger(), "Manual mode: " << manual_mode);
133+
RCLCPP_INFO_STREAM(nh_->get_logger(), "Manual mode: " << manual_mode);
135134

136135

137136
create_ros_pubs_from_settings_json();
138137

139138
if(!competition_mode_) {
140-
odom_update_timer_ = nh_private_->create_wall_timer(dseconds{update_odom_every_n_sec}, std::bind(&AirsimROSWrapper::odom_cb, this));
141-
extra_info_timer_ = nh_private_->create_wall_timer(dseconds{1}, std::bind(&AirsimROSWrapper::extra_info_cb, this));
139+
odom_update_timer_ = nh_->create_wall_timer(dseconds{update_odom_every_n_sec}, std::bind(&AirsimROSWrapper::odom_cb, this));
140+
extra_info_timer_ = nh_->create_wall_timer(dseconds{1}, std::bind(&AirsimROSWrapper::extra_info_cb, this));
142141
}
143142

144-
gps_update_timer_ = nh_private_->create_wall_timer(dseconds{update_gps_every_n_sec}, std::bind(&AirsimROSWrapper::gps_timer_cb, this));
145-
imu_update_timer_ = nh_private_->create_wall_timer(dseconds{update_imu_every_n_sec}, std::bind(&AirsimROSWrapper::imu_timer_cb, this));
146-
gss_update_timer_ = nh_private_->create_wall_timer(dseconds{update_gss_every_n_sec}, std::bind(&AirsimROSWrapper::gss_timer_cb, this));
147-
statictf_timer_ = nh_private_->create_wall_timer(dseconds{publish_static_tf_every_n_sec}, std::bind(&AirsimROSWrapper::statictf_cb, this));
143+
gps_update_timer_ = nh_->create_wall_timer(dseconds{update_gps_every_n_sec}, std::bind(&AirsimROSWrapper::gps_timer_cb, this));
144+
imu_update_timer_ = nh_->create_wall_timer(dseconds{update_imu_every_n_sec}, std::bind(&AirsimROSWrapper::imu_timer_cb, this));
145+
gss_update_timer_ = nh_->create_wall_timer(dseconds{update_gss_every_n_sec}, std::bind(&AirsimROSWrapper::gss_timer_cb, this));
146+
statictf_timer_ = nh_->create_wall_timer(dseconds{publish_static_tf_every_n_sec}, std::bind(&AirsimROSWrapper::statictf_cb, this));
148147

149-
statistics_timer_ = nh_private_->create_wall_timer(dseconds{1}, std::bind(&AirsimROSWrapper::statistics_timer_cb, this));
150-
go_signal_timer_ = nh_private_->create_wall_timer(dseconds{1}, std::bind(&AirsimROSWrapper::go_signal_timer_cb, this));
151-
go_timestamp_ = nh_private_->get_clock()->now();
148+
statistics_timer_ = nh_->create_wall_timer(dseconds{1}, std::bind(&AirsimROSWrapper::statistics_timer_cb, this));
149+
go_signal_timer_ = nh_->create_wall_timer(dseconds{1}, std::bind(&AirsimROSWrapper::go_signal_timer_cb, this));
150+
go_timestamp_ = nh_->get_clock()->now();
152151

153152
airsim_client_.enableApiControl(!manual_mode, vehicle_name);
154153

@@ -187,7 +186,7 @@ void AirsimROSWrapper::create_ros_pubs_from_settings_json()
187186
gss_pub = nh_->create_publisher<geometry_msgs::msg::TwistStamped>("gss", 10);
188187

189188
bool UDP_control;
190-
nh_private_->get_parameter("UDP_control", UDP_control);
189+
nh_->get_parameter("UDP_control", UDP_control);
191190

192191
if(UDP_control){
193192
control_cmd_sub = nh_->create_subscription<fs_msgs::msg::ControlCommand>("control_command", 1, std::bind(&AirsimROSWrapper::car_control_cb, this, std::placeholders::_1));
@@ -253,7 +252,7 @@ void AirsimROSWrapper::create_ros_pubs_from_settings_json()
253252
auto lidar_index = lidar_pub_vec_.size() -1;
254253

255254
auto x = [this, sensor_name, lidar_index]() { this->lidar_timer_cb(sensor_name, lidar_index); };
256-
airsim_lidar_update_timers_.push_back(nh_private_->create_wall_timer(dseconds{double(1) / double(lidar_setting.horizontal_rotation_frequency)}, x));
255+
airsim_lidar_update_timers_.push_back(nh_->create_wall_timer(dseconds{double(1) / double(lidar_setting.horizontal_rotation_frequency)}, x));
257256
break;
258257
}
259258
default:
@@ -306,7 +305,7 @@ nav_msgs::msg::Odometry AirsimROSWrapper::get_odom_msg_from_airsim_state(const m
306305
{
307306
nav_msgs::msg::Odometry odom_enu_msg;
308307
odom_enu_msg.header.frame_id = "fsds/map";
309-
odom_enu_msg.header.stamp = nh_private_->get_clock()->now();
308+
odom_enu_msg.header.stamp = nh_->get_clock()->now();
310309
odom_enu_msg.child_frame_id = "fsds/FSCar";
311310
odom_enu_msg.pose.pose.position.x = car_state.getPosition().x();
312311
odom_enu_msg.pose.pose.position.y = car_state.getPosition().y();
@@ -509,7 +508,7 @@ void AirsimROSWrapper::imu_timer_cb()
509508
imu_msg.linear_acceleration_covariance[4] = imu_data.sigma_vrw*imu_data.sigma_vrw;
510509
imu_msg.linear_acceleration_covariance[8] = imu_data.sigma_vrw*imu_data.sigma_vrw;
511510
imu_msg.header.frame_id = "fsds/" + vehicle_name;
512-
// imu_msg.header.stamp = nh_private_->get_clock()->now();
511+
// imu_msg.header.stamp = nh_->get_clock()->now();
513512
{
514513
ros_bridge::ROSMsgCounter counter(&imu_pub_statistics);
515514
imu_pub->publish(imu_msg);
@@ -562,7 +561,7 @@ void AirsimROSWrapper::statictf_cb()
562561
{
563562
for (auto& static_tf_msg : static_tf_msg_vec_)
564563
{
565-
static_tf_msg.header.stamp = nh_private_->get_clock()->now();
564+
static_tf_msg.header.stamp = nh_->get_clock()->now();
566565
static_tf_pub_.sendTransform(static_tf_msg);
567566
}
568567
}
@@ -684,7 +683,7 @@ void AirsimROSWrapper::lidar_timer_cb(const std::string& lidar_name, const int l
684683
}
685684
lidar_msg = get_lidar_msg_from_airsim(lidar_name, lidar_data); // todo make const ptr msg to avoid copy
686685
lidar_msg.header.frame_id = "fsds/" + lidar_name;
687-
lidar_msg.header.stamp = nh_private_->get_clock()->now();
686+
lidar_msg.header.stamp = nh_->get_clock()->now();
688687

689688
{
690689
ros_bridge::ROSMsgCounter counter(&lidar_pub_vec_statistics[lidar_index]);

‎ros2/src/fsds_ros2_bridge/src/fsds_ros2_bridge.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,7 @@ int main(int argc, char ** argv)
99

1010
std::string host_ip = "localhost";
1111
node->get_parameter("host_ip", host_ip);
12-
AirsimROSWrapper airsim_ros_wrapper(node, node, host_ip);
12+
AirsimROSWrapper airsim_ros_wrapper(node, host_ip);
1313

1414
// if (airsim_ros_wrapper.is_used_lidar_timer_cb_queue_)
1515
// {

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