SiftNode::SiftNode() : _it(_node)
{
ros::NodeHandle pnh("~");
pnh.param("use_mask", _useMask, false);
_pubFeatures = _node.advertise<posedetection_msgs::Feature0D>("Feature0D",1);
_pubSift = _node.advertise<posedetection_msgs::ImageFeature0D>("ImageFeature0D",1);
_srvDetect = _node.advertiseService("Feature0DDetect",&SiftNode::detectCb,this);
if (!_useMask) {
_subImage = _it.subscribe("image",1,&SiftNode::imageCb,this);
}
else {
_subImageWithMask.reset(new image_transport::SubscriberFilter(_it, "image", 1));
_subMask.reset(new image_transport::SubscriberFilter(_it, "mask", 1));
_sync.reset(new message_filters::Synchronizer<SyncPolicy>(SyncPolicy(100), *_subImageWithMask, *_subMask));
_sync->registerCallback(boost::bind(&SiftNode::imageCb, this, _1, _2));
}
_subInfo = _node.subscribe("camera_info",1,&SiftNode::infoCb,this);
lasttime = ros::Time::now();
_bInfoInitialized = false;
}
FlyerInterface::FlyerInterface(ros::NodeHandle nh, ros::NodeHandle nh_private):
nh_(nh),
nh_private_(nh_private),
cfg_ctrl_srv_(ros::NodeHandle(nh_private_, "ctrl")),
cfg_x_srv_(ros::NodeHandle(nh_private_, "ctrl/pid_x")),
cfg_y_srv_(ros::NodeHandle(nh_private_, "ctrl/pid_y")),
cfg_z_srv_(ros::NodeHandle(nh_private_, "ctrl/pid_z")),
cfg_vx_srv_(ros::NodeHandle(nh_private_, "ctrl/pid_vx")),
cfg_vy_srv_(ros::NodeHandle(nh_private_, "ctrl/pid_vy")),
cfg_vz_srv_(ros::NodeHandle(nh_private_, "ctrl/pid_vz")),
cfg_yaw_srv_(ros::NodeHandle(nh_private_, "ctrl/pid_yaw")),
cfg_comm_srv_(ros::NodeHandle(nh_private_, "comm")),
connected_(false)
{
ROS_INFO("Starting FlyerInterface");
ros::NodeHandle nh_mav (nh_, "mav");
// **** initialize vaiables
cmd_roll_ = 0.0;
cmd_pitch_ = 0.0;
cmd_yaw_rate_ = 0.0;
cmd_thrust_ = 0.0;
cpu_load_index_ = 0;
cpu_loads_.resize(50);
// **** get parameters
initializeParams();
// **** dynamic reconfigure services
CfgZServer::CallbackType f1 = boost::bind(&FlyerInterface::reconfig_z_callback, this, _1, _2);
cfg_z_srv_.setCallback(f1);
CfgXServer::CallbackType f2 = boost::bind(&FlyerInterface::reconfig_x_callback, this, _1, _2);
cfg_x_srv_.setCallback(f2);
CfgYServer::CallbackType f3 = boost::bind(&FlyerInterface::reconfig_y_callback, this, _1, _2);
cfg_y_srv_.setCallback(f3);
CfgYawServer::CallbackType f4 = boost::bind(&FlyerInterface::reconfig_yaw_callback, this, _1, _2);
cfg_yaw_srv_.setCallback(f4);
CfgCommServer::CallbackType f5 = boost::bind(&FlyerInterface::reconfig_comm_callback, this, _1, _2);
cfg_comm_srv_.setCallback(f5);
CfgCtrlServer::CallbackType f6 = boost::bind(&FlyerInterface::reconfig_ctrl_callback, this, _1, _2);
cfg_ctrl_srv_.setCallback(f6);
CfgVXServer::CallbackType f7 = boost::bind(&FlyerInterface::reconfig_vx_callback, this, _1, _2);
cfg_vx_srv_.setCallback(f7);
CfgVYServer::CallbackType f8 = boost::bind(&FlyerInterface::reconfig_vy_callback, this, _1, _2);
cfg_vy_srv_.setCallback(f8);
CfgVZServer::CallbackType f9 = boost::bind(&FlyerInterface::reconfig_vz_callback, this, _1, _2);
cfg_vz_srv_.setCallback(f9);
// **** connect
connected_ = comm_.connect(serial_port_rx_, serial_port_tx_, baudrate_);
if (!connected_)
{
ROS_ERROR("unable to connect");
return;
}
// **** configure
sendCommConfig();
sendKFConfig(true); // configure and reset to 0 state
sendPIDConfig();
sendCtrlConfig();
// *** register publishers
if (publish_pose_)
{
pose_publisher_ = nh_mav.advertise<geometry_msgs::PoseStamped>(
"pose", 10);
}
vel_publisher_ = nh_mav.advertise<geometry_msgs::TwistStamped>(
"vel", 10);
imu_publisher_ = nh_mav.advertise<sensor_msgs::Imu>(
"imu", 10);
flight_state_publisher_ = nh_mav.advertise<std_msgs::UInt8>(
"status/flight_state", 1);
battery_voltage_publisher_ = nh_mav.advertise<std_msgs::Float32>(
"status/battery_voltage", 1);
cpu_load_publisher_ = nh_mav.advertise<std_msgs::Float32>(
"status/cpu_load", 1);
cpu_load_avg_publisher_ = nh_mav.advertise<std_msgs::Float32>(
"status/cpu_load_avg", 1);
if (publish_debug_)
{
debug_cmd_roll_publisher_ = nh_mav.advertise<std_msgs::Float32>(
"debug/cmd/roll", 1);
debug_cmd_pitch_publisher_ = nh_mav.advertise<std_msgs::Float32>(
"debug/cmd/pitch", 1);
debug_cmd_yaw_rate_publisher_ = nh_mav.advertise<std_msgs::Float32>(
"debug/cmd/yaw_rate", 1);
debug_cmd_thrust_publisher_ = nh_mav.advertise<std_msgs::Float32>(
"debug/cmd/thrust", 1);
debug_cmd_yaw_publisher_ = nh_mav.advertise<std_msgs::Float32>(
"debug/cmd/yaw", 1);
debug_pid_x_i_term_publisher_ = nh_mav.advertise<std_msgs::Float32>(
"debug/pid/x_i_term", 1);
debug_pid_y_i_term_publisher_ = nh_mav.advertise<std_msgs::Float32>(
"debug/pid/y_i_term", 1);
debug_pid_yaw_i_term_publisher_ = nh_mav.advertise<std_msgs::Float32>(
"debug/pid/yaw_i_term", 1);
debug_pid_z_i_term_publisher_ = nh_mav.advertise<std_msgs::Float32>(
"debug/pid/z_i_term", 1);
debug_roll_publisher_ = nh_mav.advertise<std_msgs::Float32>(
"debug/roll", 1);
debug_pitch_publisher_ = nh_mav.advertise<std_msgs::Float32>(
"debug/pitch", 1);
debug_yaw_publisher_ = nh_mav.advertise<std_msgs::Float32>(
"debug/yaw", 1);
debug_err_x_bf_publisher_= nh_mav.advertise<std_msgs::Float32>(
"debug/pid/err_x_bf", 1);
debug_err_y_bf_publisher_= nh_mav.advertise<std_msgs::Float32>(
"debug/pid/err_y_bf", 1);
debug_err_vx_bf_publisher_= nh_mav.advertise<std_msgs::Float32>(
"debug/pid/err_vx_bf", 1);
debug_err_vy_bf_publisher_= nh_mav.advertise<std_msgs::Float32>(
"debug/pid/err_vy_bf", 1);
debug_ax_bf_publisher_= nh_mav.advertise<std_msgs::Float32>(
"debug/pid/acc_x_bf", 1);
debug_ay_bf_publisher_= nh_mav.advertise<std_msgs::Float32>(
"debug/pid/acc_y_bf", 1);
debug_az_publisher_= nh_mav.advertise<std_msgs::Float32>(
"debug/pid/dvz", 1);
debug_vx_bf_publisher_= nh_mav.advertise<std_msgs::Float32>(
"debug/pid/vx_bf", 1);
debug_vy_bf_publisher_= nh_mav.advertise<std_msgs::Float32>(
"debug/pid/vy_bf", 1);
debug_imu_wf_publisher_ = nh_mav.advertise<sensor_msgs::Imu>(
"debug/imu_wf", 1);
}
// **** register callbacks for packets from serial port
comm_.registerCallback(MAV_IMU_PKT_ID, &FlyerInterface::processImuData, this);
comm_.registerCallback(MAV_POSE_PKT_ID, &FlyerInterface::processPoseData, this);
comm_.registerCallback(MAV_RCDATA_PKT_ID, &FlyerInterface::processRCData, this);
comm_.registerCallback(MAV_FLIGHT_STATE_PKT_ID, &FlyerInterface::processFlightStateData, this);
comm_.registerCallback(MAV_TIMESYNC_PKT_ID, &FlyerInterface::processTimeSyncData, this);
comm_.registerCallback(MAV_STATUS_PKT_ID, &FlyerInterface::processStatusData, this);
if (publish_debug_)
comm_.registerCallback(MAV_CTRL_DEBUG_PKT_ID, &FlyerInterface::processCtrlDebugData, this);
// **** register subscribers
// Synchronize inputs. Topic subscriptions happen on demand in the connection callback.
int queue_size = 5;
laser_pose_subscriber_.reset(new PoseStampedSubscriber(
nh_mav, "laser_pose_f", queue_size));
laser_vel_subscriber_.reset(new TwistStampedSubscriber(
nh_mav, "laser_vel_f", queue_size));
sync_.reset(new Synchronizer(
SyncPolicy(queue_size), *laser_pose_subscriber_, *laser_vel_subscriber_));
sync_->registerCallback(boost::bind(&FlyerInterface::laserCallback, this, _1, _2));
height_subscriber_ = nh_mav.subscribe(
"laser_height_f", 10, &FlyerInterface::heightCallback, this);
cmd_roll_subscriber_ = nh_mav.subscribe(
"cmd/roll", 10, &FlyerInterface::cmdRollCallback, this);
cmd_pitch_subscriber_ = nh_mav.subscribe(
"cmd/pitch", 10, &FlyerInterface::cmdPitchCallback, this);
cmd_yaw_rate_subscriber_ = nh_mav.subscribe(
"cmd/yaw_rate", 10, &FlyerInterface::cmdYawRateCallback, this);
cmd_thrust_subscriber_ = nh_mav.subscribe(
"cmd/thrust", 10, &FlyerInterface::cmdThrustCallback, this);
cmd_pose_subscriber_ = nh_mav.subscribe(
"cmd/pose", 10, &FlyerInterface::cmdPoseCallback, this);
cmd_vel_subscriber_ = nh_mav.subscribe(
"cmd/vel", 10, &FlyerInterface::cmdVelCallback, this);
// **** timers
cmd_timer_ = nh_private_.createTimer(
ros::Duration(0.05), &FlyerInterface::cmdTimerCallback, this);
// **** services
advance_state_srv_ = nh_mav.advertiseService(
"advanceState", &FlyerInterface::advanceState, this);
retreat_state_srv_ = nh_mav.advertiseService(
"retreatState", &FlyerInterface::retreatState, this);
estop_srv_ = nh_mav.advertiseService(
"estop", &FlyerInterface::estop, this);
toggle_engage_srv_ = nh_mav.advertiseService(
"toggleEngage", &FlyerInterface::toggleEngage, this);
takeoff_srv_ = nh_mav.advertiseService(
"takeoff", &FlyerInterface::takeoff, this);
land_srv_ = nh_mav.advertiseService(
"land", &FlyerInterface::land, this);
get_flight_state_srv_ = nh_mav.advertiseService(
"getFlightState", &FlyerInterface::getFlightState, this);
set_ctrl_type_srv_ = nh_mav.advertiseService(
"setCtrlType", &FlyerInterface::setCtrlType, this);
}
ImuFilter::ImuFilter(ros::NodeHandle nh, ros::NodeHandle nh_private) :
nh_(nh),
nh_private_(nh_private),
initialized_(false),
q0(1.0), q1(0.0), q2(0.0), q3(0.0)
{
ROS_INFO("Starting ImuFilter");
// **** get paramters
if (!nh_private_.getParam("gain", gain_))
gain_ = 0.1;
if (!nh_private_.getParam("zeta", zeta_))
zeta_ = 0;
if (!nh_private_.getParam("use_mag", use_mag_))
use_mag_ = true;
if (!nh_private_.getParam("publish_tf", publish_tf_))
publish_tf_ = true;
if (!nh_private_.getParam("fixed_frame", fixed_frame_))
fixed_frame_ = "odom";
if (!nh_private_.getParam("constant_dt", constant_dt_))
constant_dt_ = 0.0;
// check for illegal constant_dt values
if (constant_dt_ < 0.0)
{
ROS_FATAL("constant_dt parameter is %f, must be >= 0.0. Setting to 0.0", constant_dt_);
constant_dt_ = 0.0;
}
// if constant_dt_ is 0.0 (default), use IMU timestamp to determine dt
// otherwise, it will be constant
if (constant_dt_ == 0.0)
ROS_INFO("Using dt computed from message headers");
else
ROS_INFO("Using constant dt of %f sec", constant_dt_);
// **** register dynamic reconfigure
FilterConfigServer::CallbackType f = boost::bind(&ImuFilter::reconfigCallback, this, _1, _2);
config_server_.setCallback(f);
// **** register publishers
imu_publisher_ = nh_.advertise<sensor_msgs::Imu>(
"imu/data", 5);
// **** register subscribers
// Synchronize inputs. Topic subscriptions happen on demand in the connection callback.
int queue_size = 5;
imu_subscriber_.reset(new ImuSubscriber(
nh_, "imu/data_raw", queue_size));
if (use_mag_)
{
mag_subscriber_.reset(new MagSubscriber(
nh_, "imu/mag", queue_size));
sync_.reset(new Synchronizer(
SyncPolicy(queue_size), *imu_subscriber_, *mag_subscriber_));
sync_->registerCallback(boost::bind(&ImuFilter::imuMagCallback, this, _1, _2));
}
else
{
imu_subscriber_->registerCallback(&ImuFilter::imuCallback, this);
}
}
