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/****************************************************************************
*
* 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;
}
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