void ofxXsens::update() {
if (callback.packetAvailable())
{
// Retrieve a packet
XsDataPacket packet = callback.getNextPacket();
//Get the quaternion data
XsQuaternion quaternion = packet.orientationQuaternion();
ofLogVerbose("ofxXsens") << "\r"
<< "q0:" << std::setw(5) << std::fixed << std::setprecision(2) << quaternion.m_w
<< ",q1:" << std::setw(5) << std::fixed << std::setprecision(2) << quaternion.m_x
<< ",q2:" << std::setw(5) << std::fixed << std::setprecision(2) << quaternion.m_y
<< ",q3:" << std::setw(5) << std::fixed << std::setprecision(2) << quaternion.m_z
;
// Convert packet to euler
euler = packet.orientationEuler();
ofLogVerbose("ofxXsens") << ",Roll:" << std::setw(7) << std::fixed << std::setprecision(2) << euler.m_roll
<< ",Pitch:" << std::setw(7) << std::fixed << std::setprecision(2) << euler.m_pitch
<< ",Yaw:" << std::setw(7) << std::fixed << std::setprecision(2) << euler.m_yaw
;
// GPS
if(packet.containsLatitudeLongitude()) {
lat_long = packet.latitudeLongitude();
ofLogVerbose("ofxXsens") << "\n" << "Latitude:" << std::setprecision(9) << lat_long[0] << " Longitude:" << lat_long[1];
}
else
if(packet.containsPositionLLA()) {
ofLogVerbose("ofxXsens") << "\n" << "Packet contains position LLA data" ;
}
else
if(packet.containsRawGpsSol()){
ofLogVerbose("ofxXsens") << "\n" << "Packet contains RAW GPS data" ;
}
}
}
/**
* \brief Fills data using XsDataPacket object
* @param _packet Incoming packet from Xsens device.
*/
void SensorData::fillData(XsDataPacket * _packet){
XsDataPacket packet = *_packet;
XsMessage msg = packet.toMessage();
XsSize msg_size = msg.getDataSize();
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "Data Size: " << msg_size);
// Get the orientation data
if (packet.containsOrientation()) {
XsQuaternion quaternion = packet.orientationQuaternion();
q1 = quaternion.m_x;
q2 = quaternion.m_y;
q3 = quaternion.m_z;
q0 = quaternion.m_w;
XsEuler euler = packet.orientationEuler();
eroll = euler.m_roll;
epitch = euler.m_pitch;
eyaw = euler.m_yaw;
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE,"Orientation: Roll:" << std::setw(7) << std::fixed << std::setprecision(2) << euler.m_roll
<< ", Pitch:" << std::setw(7) << std::fixed << std::setprecision(2) << euler.m_pitch
<< ", Yaw:" << std::setw(7) << std::fixed << std::setprecision(2) << euler.m_yaw);
}
// Get the gyroscope data
if (packet.containsCalibratedGyroscopeData()) {
XsVector gyroscope = packet.calibratedGyroscopeData();
gyrX = gyroscope.at(0);
gyrY = gyroscope.at(1);
gyrZ = gyroscope.at(2);
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "Angular Velocity: ( "
<< gyrX << ", " << gyrY << ", " << gyrZ << ")" );
}
// Get the acceleration data
if (packet.containsCalibratedAcceleration()) {
XsVector acceleration = packet.calibratedAcceleration();
accX = acceleration.at(0);
accY = acceleration.at(1);
accZ = acceleration.at(2);
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "Linear Acceleration: ("
<< accX << "," << accX << "," << accZ << ")" );
}
//Get the altitude data
if(packet.containsAltitude()){
mAltitude = packet.altitude();
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "containsAltitude: ");
}
//Get the Latitude and Longitude Data
if(packet.containsLatitudeLongitude()){
XsVector latlon = packet.latitudeLongitude();
mLatitude = latlon[0];
mLongitude = latlon[1];
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "containsLatitudeLongitude");
}
// Get the magnetic field data
if (packet.containsCalibratedMagneticField()) {
XsVector magneticField = packet.calibratedMagneticField();
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "Magnetic Field: ("<< magneticField[0] <<" , "
<< magneticField[1] << " , "<< magneticField[2] << ")");
magX = magneticField.at(0);
magY = magneticField.at(1);
magZ = magneticField.at(2);
}
// Get Temperature data
if (packet.containsTemperature()){
double temperature = packet.temperature();
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "Temperature : " << temperature);
mTemperature = temperature;
}
// Get Pressure Data
if(packet.containsPressure() ){
XsPressure pressure = packet.pressure();
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "Pressure : " << pressure.m_pressure);
mPressure= pressure.m_pressure;
}
// Get Velocity Data
if( packet.containsVelocity() ){
XsVector velocity = packet.velocity();
mVelocityX = velocity.at(0);
mVelocityY = velocity.at(1);
mVelocityZ = velocity.at(2);
ROS_INFO_STREAM(" Velocity [ x (east) : " << mVelocityX << ", y (north) : "
<< mVelocityY << ", z (up) " << mVelocityZ << " ]");
}
// Get GPS PVT Data
if( packet.containsGpsPvtData() ){
XsGpsPvtData gpsPvtData = packet.gpsPvtData();
ROS_INFO_STREAM(" Horizontal accuracy: " << gpsPvtData.m_hacc );
}
if(packet.containsRawAcceleration() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "Raw Acceleration") ;}
if(packet.containsRawGyroscopeData() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "Raw Gyroscope") ;}
if(packet.containsRawGyroscopeTemperatureData() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "RawGyrTemp");}
if(packet.containsRawMagneticField() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "RawMag");}
if(packet.containsRawTemperature() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "RawTemp");}
if(packet.containsRawData() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "RawData");}
if(packet.containsCalibratedData() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "Calib Data");}
if(packet.containsSdiData() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "SDI");}
//if(packet.containsStatusByte() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "StatusByte");}
if(packet.containsDetailedStatus() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "DetailedStatus");}
if(packet.containsPacketCounter8() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "PacketCounter8");}
if(packet.containsPacketCounter() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "PacketCounter");}
if(packet.containsSampleTimeFine() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "SampleTimeFine");}
if(packet.containsSampleTimeCoarse() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "SampleTimeCoarse");}
if(packet.containsSampleTime64() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "SampleTime64");}
if(packet.containsFreeAcceleration() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "FreeAcceleration");}
if(packet.containsPressureAge() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "PressureAge");}
if(packet.containsAnalogIn1Data() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "AN1IN");}
if(packet.containsAnalogIn2Data() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "AN2IN");}
if(packet.containsPositionLLA() ){
XsVector posLLA = packet.positionLLA();
mLatitude = posLLA[0];
mLongitude = posLLA[1];
mAltitude = posLLA[2];
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "mLatitude = " << mLatitude);
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "mLongitude = " << mLongitude);
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE, "mAltitude = " << mAltitude);
//for(int i=0; i < posLLA.size(); i++){
//ROS_INFO_STREAM("posLLA[" << i << "] : " << posLLA[i] );
//}
}
if(packet.containsUtcTime() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "UTC-Time");}
if(packet.containsFrameRange() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "Frame Range");}
if(packet.containsRssi() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "RSSI");}
if(packet.containsRawGpsDop() ){
//ROS_INFO_THROTTLE(THROTTLE_VALUE, "DOP");}
XsRawGpsDop dop = packet.rawGpsDop();
m_gdop = ((float) dop.m_gdop)/100;
m_pdop = ((float) dop.m_pdop)/100;
m_tdop = ((float) dop.m_tdop)/100;
m_vdop = ((float) dop.m_vdop)/100;
m_hdop = ((float) dop.m_hdop)/100;
m_edop = ((float) dop.m_edop)/100;
m_ndop = ((float) dop.m_ndop)/100;
m_itow = ((float) dop.m_itow)/1000;
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE,
"GDOP = " << m_gdop <<
",PDOP = " << m_pdop <<
",TDOP = " << m_tdop <<
",VDOP = " << m_vdop <<
",HDOP = " << m_hdop <<
",EDOP = " << m_edop <<
",NDOP = " << m_ndop <<
",ITOW = " << m_itow);
}
if(packet.containsRawGpsSol() ){
// ROS_INFO_THROTTLE(THROTTLE_VALUE, "SOL");}
XsRawGpsSol sol = packet.rawGpsSol();
mPositionAccuracy = sol.m_pacc;
mSpeedAccuracy = sol.m_sacc;
mSatelliteNumber = sol.m_numsv;
mGpsFixStatus = sol.m_gpsfix;
gpsVelocityX=sol.m_ecef_vx/100;
gpsVelocityY=sol.m_ecef_vy/100;
gpsVelocityZ=sol.m_ecef_vz/100;
ROS_INFO_STREAM_THROTTLE(THROTTLE_VALUE,
"Pos Acc = " << mPositionAccuracy <<
",Speed Acc = " << mSpeedAccuracy <<
",Sat Number = " << mSatelliteNumber <<
",GPS FIX = " << std::hex << mGpsFixStatus);
}
if(packet.containsRawGpsTimeUtc() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "GPS-UTC");}
if(packet.containsRawGpsSvInfo() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "SV INFO");}
// if(packet.containsTriggerIndication() ){ ROS_INFO_THROTTLE(THROTTLE_VALUE, "TRIGGER");}
//Get Status byte
if( packet.containsStatus() ){
mStatus = packet.status();
ROS_INFO_THROTTLE(10, "Status: %.8X", mStatus);
}
}
