angular_velocity_offset_stop_node.cpp

// Copyright (c) 2019, Map IV, Inc.
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/*
 * angular_velocity_offset_stop.cpp
 * Author MapIV Sekino
 */

#include "rclcpp/rclcpp.hpp"
#include "eagleye_coordinate/eagleye_coordinate.hpp"
#include "eagleye_navigation/eagleye_navigation.hpp"

class AngularVelocityOffsetStopNode : public rclcpp::Node
{
public:
  AngularVelocityOffsetStopNode() : Node("eagleye_angular_velocity_offset_stop")
  {
    std::string subscribe_twist_topic_name = "vehicle/twist";

    std::string yaml_file;
    this->declare_parameter("yaml_file", yaml_file);
    this->get_parameter("yaml_file", yaml_file);
    std::cout << "yaml_file: " << yaml_file << std::endl;

    try
    {
      YAML::Node conf = YAML::LoadFile(yaml_file);

      angular_velocity_offset_stop_parameter_.imu_rate = conf["/**"]["ros__parameters"]["common"]["imu_rate"].as<double>();
      angular_velocity_offset_stop_parameter_.stop_judgment_threshold = conf["/**"]["ros__parameters"]["common"]["stop_judgment_threshold"].as<double>();
      angular_velocity_offset_stop_parameter_.estimated_interval = conf["/**"]["ros__parameters"]["angular_velocity_offset_stop"]["estimated_interval"].as<double>();
      angular_velocity_offset_stop_parameter_.outlier_threshold = conf["/**"]["ros__parameters"]["angular_velocity_offset_stop"]["outlier_threshold"].as<double>();

      std::cout << "subscribe_twist_topic_name " << subscribe_twist_topic_name << std::endl;
      std::cout << "imu_rate " << angular_velocity_offset_stop_parameter_.imu_rate << std::endl;
      std::cout << "stop_judgment_threshold " << angular_velocity_offset_stop_parameter_.stop_judgment_threshold << std::endl;
      std::cout << "estimated_minimum_interval " << angular_velocity_offset_stop_parameter_.estimated_interval << std::endl;
      std::cout << "outlier_threshold " << angular_velocity_offset_stop_parameter_.outlier_threshold << std::endl;
    }
    catch (YAML::Exception& e)
    {
      std::cerr << "\033[1;31mangular_velocity_offset_stop Node YAML Error: " << e.msg << "\033[0m" << std::endl;
      exit(3);
    }

    sub1_ = this->create_subscription<geometry_msgs::msg::TwistStamped>(
      subscribe_twist_topic_name, 1000,
      std::bind(&AngularVelocityOffsetStopNode::velocityCallback, this, std::placeholders::_1));
    sub2_ = this->create_subscription<sensor_msgs::msg::Imu>(
      "imu/data_tf_converted", 1000,
      std::bind(&AngularVelocityOffsetStopNode::imuCallback, this, std::placeholders::_1));
    pub_ = this->create_publisher<eagleye_msgs::msg::AngularVelocityOffset>("angular_velocity_offset_stop", 1000);
  }

private:
  geometry_msgs::msg::TwistStamped velocity_;
  eagleye_msgs::msg::AngularVelocityOffset angular_velocity_offset_stop_;
  sensor_msgs::msg::Imu imu_;

  struct AngularVelocityOffsetStopParameter angular_velocity_offset_stop_parameter_;
  struct AngularVelocityOffsetStopStatus angular_velocity_offset_stop_status_ = {};

  rclcpp::Subscription<geometry_msgs::msg::TwistStamped>::SharedPtr sub1_;
  rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr sub2_;
  rclcpp::Publisher<eagleye_msgs::msg::AngularVelocityOffset>::SharedPtr pub_;

  void velocityCallback(const geometry_msgs::msg::TwistStamped::ConstSharedPtr msg)
  {
    velocity_ = *msg;
  }

  void imuCallback(const sensor_msgs::msg::Imu::ConstSharedPtr msg)
  {
    imu_.header = msg->header;
    imu_.orientation = msg->orientation;
    imu_.orientation_covariance = msg->orientation_covariance;
    imu_.angular_velocity = msg->angular_velocity;
    imu_.angular_velocity_covariance = msg->angular_velocity_covariance;
    imu_.linear_acceleration = msg->linear_acceleration;
    imu_.linear_acceleration_covariance = msg->linear_acceleration_covariance;
    angular_velocity_offset_stop_.header = msg->header;
    angular_velocity_offset_stop_estimate(velocity_, imu_, angular_velocity_offset_stop_parameter_, &angular_velocity_offset_stop_status_, &angular_velocity_offset_stop_);
    pub_->publish(angular_velocity_offset_stop_);
  }
};

int main(int argc, char** argv)
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<AngularVelocityOffsetStopNode>());
  return 0;
}