Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix(fix2pose): remove initialpose3d publisher for Autoware #310

Merged
merged 1 commit into from
Aug 31, 2023
Merged

Fix(fix2pose): remove initialpose3d publisher for Autoware #310

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
23 changes: 1 addition & 22 deletions eagleye_util/fix2pose/src/fix2pose.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -60,9 +60,7 @@ static geometry_msgs::msg::Quaternion _quat;

rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr _pub;
rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr _pub2;
rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr _pub3;
std::shared_ptr<tf2_ros::TransformBroadcaster> _br;
std::shared_ptr<tf2_ros::TransformBroadcaster> _br2;
static geometry_msgs::msg::PoseStamped _pose;
static geometry_msgs::msg::PoseWithCovarianceStamped _pose_with_covariance;

Expand All @@ -77,14 +75,11 @@ bool _fix_only_publish = false;
int _fix_judgement_type = 0;
int _fix_gnss_status = 0;
double _fix_std_pos_thres = 0.1; // [m]
bool _initial_pose_estimated = false;

std::string _node_name = "eagleye_fix2pose";

tf2_ros::Buffer _tf_buffer(std::make_shared<rclcpp::Clock>(_ros_clock));

rclcpp::Client<std_srvs::srv::SetBool>::SharedPtr _client_ekf_trigger;

void heading_callback(const eagleye_msgs::msg::Heading::ConstSharedPtr msg)
{
_eagleye_heading = *msg;
Expand Down Expand Up @@ -208,20 +203,7 @@ void fix_callback(const sensor_msgs::msg::NavSatFix::ConstSharedPtr msg)
_pose_with_covariance.pose.covariance[28] = std_dev_pitch * std_dev_pitch;
_pose_with_covariance.pose.covariance[35] = std_dev_yaw * std_dev_yaw;
_pub2->publish(_pose_with_covariance);

if(!_initial_pose_estimated)
{
_pub3->publish(_pose_with_covariance);
_initial_pose_estimated = true;

const auto req = std::make_shared<std_srvs::srv::SetBool::Request>();
req->data = true;
if (!_client_ekf_trigger->service_is_ready()) {
RCLCPP_WARN(rclcpp::get_logger(_node_name), "EKF localizar triggering service is not ready");
}
auto future_ekf = _client_ekf_trigger->async_send_request(req);
}


tf2::Transform transform;
tf2::Quaternion q;
transform.setOrigin(tf2::Vector3(_pose.pose.position.x, _pose.pose.position.y, _pose.pose.position.z));
Expand Down Expand Up @@ -340,10 +322,7 @@ int main(int argc, char** argv)
auto sub5 = node->create_subscription<eagleye_msgs::msg::Pitching>("eagleye/pitching", 1000, pitching_callback);
_pub = node->create_publisher<geometry_msgs::msg::PoseStamped>("eagleye/pose", 1000);
_pub2 = node->create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>("eagleye/pose_with_covariance", 1000);
_pub3 = node->create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>("/initialpose3d", 1000);
_br = std::make_shared<tf2_ros::TransformBroadcaster>(node, 100);
_br2 = std::make_shared<tf2_ros::TransformBroadcaster>(node, 100);
_client_ekf_trigger = node->create_client<std_srvs::srv::SetBool>("ekf_trigger_node");
rclcpp::spin(node);

return 0;
Expand Down