first version of position estimator dummy node

3 files changed, 178 insertions, 0 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6a368d78f..0c81607b0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -204,6 +204,15 @@ target_link_libraries(attitude_estimator
   px4
 )
 
+## Position Estimator dummy
+add_executable(position_estimator
+	src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
+add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(position_estimator
+  ${catkin_LIBRARIES}
+  px4
+)
+
 ## Manual input
 add_executable(manual_input
 	src/platforms/ros/nodes/manual_input/manual_input.cpp)
diff --git a/src/platforms/ros/nodes/position_estimator/position_estimator.cpp b/src/platforms/ros/nodes/position_estimator/position_estimator.cpp
new file mode 100644
index 000000000..231e9763a
--- /dev/null
+++ b/src/platforms/ros/nodes/position_estimator/position_estimator.cpp
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file position_estimator.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Roman Bapst <romanbapst@yahoo.de>
+*/
+
+#include "position_estimator.h"
+
+#include <px4/vehicle_local_position.h>
+#include <mathlib/mathlib.h>
+#include <platforms/px4_defines.h>
+#include <platforms/px4_middleware.h>
+#include <vector>
+#include <string>
+#include <gazebo_msgs/ModelStates.h>
+
+PositionEstimator::PositionEstimator() :
+	_n(),
+	_sub_modelstates(_n.subscribe("/gazebo/model_states", 1, &PositionEstimator::model_states_callback, this)),
+	_vehicle_position_pub(_n.advertise<px4::vehicle_local_position>("vehicle_local_position", 1)),
+	_startup_time(px4::get_time_micros())
+{
+}
+
+void PositionEstimator::model_states_callback(const gazebo_msgs::ModelStatesConstPtr &msg)
+{
+	//XXX: use a proper sensor topic
+
+	px4::vehicle_local_position msg_v_l_pos;
+
+	/* Fill px4 position topic with contents from modelstates topic */
+	int index = 0;
+	//XXX: maybe a more clever approach would be to do this not on every loop, need to check if and when
+	//gazebo rearranges indexes.
+	for(std::vector<std::string>::const_iterator it = msg->name.begin(); it != msg->name.end(); ++it) {
+		if (*it == "iris" || *it == "ardrone") {
+			index = it -  msg->name.begin();
+			break;
+		}
+	}
+	msg_v_l_pos.xy_valid = true;
+	msg_v_l_pos.z_valid = true;
+	msg_v_l_pos.v_xy_valid = true;
+	msg_v_l_pos.v_z_valid = true;
+
+	msg_v_l_pos.x = msg->pose[index].position.x;
+	msg_v_l_pos.y = -msg->pose[index].position.y;
+	msg_v_l_pos.z = -msg->pose[index].position.z;
+	msg_v_l_pos.vx = msg->twist[index].linear.x;
+	msg_v_l_pos.vy = -msg->twist[index].linear.y;
+	msg_v_l_pos.vz = -msg->twist[index].linear.z;
+
+	msg_v_l_pos.xy_global = true;
+	msg_v_l_pos.z_global = true;
+	msg_v_l_pos.ref_timestamp = _startup_time;
+	msg_v_l_pos.ref_lat = 47.378301;
+	msg_v_l_pos.ref_lon = 8.538777;
+	msg_v_l_pos.ref_alt = 1200.0f;
+
+
+	msg_v_l_pos.timestamp = px4::get_time_micros();
+	_vehicle_position_pub.publish(msg_v_l_pos);
+}
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "position_estimator");
+	PositionEstimator m;
+
+	ros::spin();
+
+	return 0;
+}
diff --git a/src/platforms/ros/nodes/position_estimator/position_estimator.h b/src/platforms/ros/nodes/position_estimator/position_estimator.h
new file mode 100644
index 000000000..40c4baa23
--- /dev/null
+++ b/src/platforms/ros/nodes/position_estimator/position_estimator.h
@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file position_estimator.h
+ * Dummy position estimator that forwards attitude from gazebo to px4 topic
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+*/
+
+#include "ros/ros.h"
+#include <gazebo_msgs/ModelStates.h>
+#include <sensor_msgs/Imu.h>
+
+class PositionEstimator
+{
+public:
+	PositionEstimator();
+
+	~PositionEstimator() {}
+
+protected:
+	void model_states_callback(const gazebo_msgs::ModelStatesConstPtr &msg);
+
+	ros::NodeHandle _n;
+	ros::Subscriber _sub_modelstates;
+	ros::Publisher _vehicle_position_pub;
+
+	uint64_t _startup_time;
+
+
+};