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spatial gps + imu setup #3

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spatial gps + imu setup #3

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3606f58
spatial gps + imu setup
giafranchini Apr 3, 2024
6531bd9
revert changes on hal_an_spatial.launch.py
giafranchini Apr 3, 2024
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3 changes: 2 additions & 1 deletion params/params.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,8 @@ hal_an_spatial:
baud: 115200
gnss_rate: 10
imu_rate: 80
frame_id: odom
imu_frame_id: imu2 # imu module frame id
gps_frame_id: gps # gps antenna frame id
publishers:
imu_topic: /imu2/data
mag_topic: /imu2/magnetic
Expand Down
28 changes: 15 additions & 13 deletions src/advancednavigation_spatial.cpp
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Expand Up @@ -26,15 +26,16 @@ class HALSpatialNode : public rclcpp::Node {
public:

HALSpatialNode() : Node("hal_an_spatial") {
port = declare_parameter<std::string>("port", "/dev/ttyUSB0");
baud = (uint32_t) declare_parameter<int>("baud", 115200);
port = declare_parameter<std::string>("port", "/dev/ttyUSB0");
baud = (uint32_t) declare_parameter<int>("baud", 115200);
gnss_rate = (uint32_t) declare_parameter<int>("gnss_rate", 1);
imu_rate = (uint32_t) declare_parameter<int>("imu_rate", 50);
imu_topic = declare_parameter<std::string>("publishers.imu_topic", "/imu");
mag_topic = declare_parameter<std::string>("publishers.mag_topic", "/mag");
nav_topic = declare_parameter<std::string>("publishers.nav_topic", "/gnss");
rtcm_topic = declare_parameter<std::string>("publishers.rtcm_topic", "/rtcm");
reference_frame = declare_parameter<std::string>("frame_id", "base_link");
imu_reference_frame = declare_parameter<std::string>("imu_frame_id", "imu");
gps_reference_frame = declare_parameter<std::string>("gps_frame_id", "gps");
try {
ser = std::make_shared<serial::Serial>();
ser->setPort(port);
Expand Down Expand Up @@ -79,9 +80,9 @@ class HALSpatialNode : public rclcpp::Node {
an_packet_free(&out_packet);
}

imu_publisher_ = create_publisher<sensor_msgs::msg::Imu>(imu_topic, 1);
mag_publisher_ = create_publisher<sensor_msgs::msg::MagneticField>(mag_topic, 1);
nav_publisher_ = create_publisher<sensor_msgs::msg::NavSatFix>(nav_topic, 1);
imu_publisher_ = create_publisher<sensor_msgs::msg::Imu>(imu_topic, 1);
mag_publisher_ = create_publisher<sensor_msgs::msg::MagneticField>(mag_topic, 1);
nav_publisher_ = create_publisher<sensor_msgs::msg::NavSatFix>(nav_topic, 1);
rtcm_subscription_ = create_subscription<std_msgs::msg::UInt8MultiArray>(rtcm_topic, 10, std::bind(&HALSpatialNode::rtcm_callback, this, _1));

worker_thread = std::thread([this]{this->feedback_loop();});
Expand All @@ -96,16 +97,17 @@ class HALSpatialNode : public rclcpp::Node {
private:
std::thread worker_thread;
std::string port;
std::string reference_frame;
uint32_t baud, imu_rate, gnss_rate;
std::string imu_reference_frame;
std::string gps_reference_frame;
uint32_t baud, imu_rate, gnss_rate;
std::shared_ptr<serial::Serial> ser;
std::string imu_topic, mag_topic, nav_topic, rtcm_topic;
an_decoder_t an_decoder;
int bytes_received;
bool stop = false;

rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_publisher_;
rclcpp::Publisher<sensor_msgs::msg::MagneticField>::SharedPtr mag_publisher_;
rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_publisher_;
rclcpp::Publisher<sensor_msgs::msg::MagneticField>::SharedPtr mag_publisher_;
rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr nav_publisher_;
rclcpp::Subscription<std_msgs::msg::UInt8MultiArray>::SharedPtr rtcm_subscription_;

Expand Down Expand Up @@ -155,15 +157,15 @@ class HALSpatialNode : public rclcpp::Node {
}

if (type == packet_id_raw_sensors){
imu_msg.header.frame_id = reference_frame;
imu_msg.header.frame_id = imu_reference_frame;
imu_msg.angular_velocity.x = sensor_packet.gyroscopes[0];
imu_msg.angular_velocity.y = sensor_packet.gyroscopes[1];
imu_msg.angular_velocity.z = sensor_packet.gyroscopes[2];
imu_msg.linear_acceleration.x = sensor_packet.accelerometers[0];
imu_msg.linear_acceleration.y = sensor_packet.accelerometers[1];
imu_msg.linear_acceleration.z = sensor_packet.accelerometers[2];
imu_publisher_->publish(imu_msg);
mag_msg.header.frame_id = reference_frame;
mag_msg.header.frame_id = imu_reference_frame;
mag_msg.magnetic_field.x = sensor_packet.magnetometers[0];
mag_msg.magnetic_field.y = sensor_packet.magnetometers[1];
mag_msg.magnetic_field.z = sensor_packet.magnetometers[2];
Expand All @@ -188,7 +190,7 @@ class HALSpatialNode : public rclcpp::Node {
}
//RCLCPP_INFO(get_logger(), "Fix type: %d", int(system_packet.filter_status.b.gnss_fix_type));
nav_msg.status.service = nav_msg.status.SERVICE_GPS | nav_msg.status.SERVICE_GLONASS;
nav_msg.header.frame_id = reference_frame;
nav_msg.header.frame_id = gps_reference_frame;
nav_msg.longitude = system_packet.longitude/ M_PI * 180.0;
nav_msg.latitude = system_packet.latitude/ M_PI * 180.0;
nav_msg.altitude = system_packet.height;
Expand Down