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airsim_ros_wrapper.cpp
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airsim_ros_wrapper.cpp
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#include <airsim_ros_wrapper.h>
#include <boost/make_shared.hpp>
// #include <pluginlib/class_list_macros.h>
// PLUGINLIB_EXPORT_CLASS(AirsimROSWrapper, nodelet::Nodelet)
#include "common/AirSimSettings.hpp"
#include <tf2_sensor_msgs/tf2_sensor_msgs.h>
#include "Eigen/Eigen"
constexpr char AirsimROSWrapper::CAM_YML_NAME[];
constexpr char AirsimROSWrapper::WIDTH_YML_NAME[];
constexpr char AirsimROSWrapper::HEIGHT_YML_NAME[];
constexpr char AirsimROSWrapper::K_YML_NAME[];
constexpr char AirsimROSWrapper::D_YML_NAME[];
constexpr char AirsimROSWrapper::R_YML_NAME[];
constexpr char AirsimROSWrapper::P_YML_NAME[];
constexpr char AirsimROSWrapper::DMODEL_YML_NAME[];
const std::unordered_map<int, std::string> AirsimROSWrapper::image_type_int_to_string_map_ = {
{ 0, "Scene" },
{ 1, "DepthPlanar" },
{ 2, "DepthPerspective" },
{ 3, "DepthVis" },
{ 4, "DisparityNormalized" },
{ 5, "Segmentation" },
{ 6, "SurfaceNormals" },
{ 7, "Infrared" }
};
AirsimROSWrapper::AirsimROSWrapper(const ros::NodeHandle& nh, const ros::NodeHandle& nh_private, const std::string& host_ip) :
nh_(nh),
nh_private_(nh_private),
img_async_spinner_(1, &img_timer_cb_queue_), // a thread for image callbacks to be 'spun' by img_async_spinner_
depth_img_async_spinner_(1, &depth_img_timer_cb_queue_),
lidar_async_spinner_(1, &lidar_timer_cb_queue_), // same as above, but for lidar
host_ip_(host_ip),
airsim_client_images_(host_ip),
airsim_client_lidar_(host_ip),
airsim_settings_parser_(host_ip),
tf_listener_(tf_buffer_)
{
ros_clock_.clock.fromSec(0);
is_used_lidar_timer_cb_queue_ = false;
is_used_img_timer_cb_queue_ = false;
if (AirSimSettings::singleton().simmode_name != AirSimSettings::kSimModeTypeCar)
{
airsim_mode_ = AIRSIM_MODE::DRONE;
ROS_INFO("Setting ROS wrapper to DRONE mode");
}
else
{
airsim_mode_ = AIRSIM_MODE::CAR;
ROS_INFO("Setting ROS wrapper to CAR mode");
}
initialize_ros();
std::cout << "AirsimROSWrapper Initialized!\n";
}
void AirsimROSWrapper::initialize_airsim()
{
// todo do not reset if already in air?
try
{
if (airsim_mode_ == AIRSIM_MODE::DRONE)
{
airsim_client_ = std::unique_ptr<msr::airlib::RpcLibClientBase>(new msr::airlib::MultirotorRpcLibClient(host_ip_));
}
else
{
airsim_client_ = std::unique_ptr<msr::airlib::RpcLibClientBase>(new msr::airlib::CarRpcLibClient(host_ip_));
}
airsim_client_->confirmConnection();
airsim_client_images_.confirmConnection();
airsim_client_lidar_.confirmConnection();
for (const auto& vehicle_name_ptr_pair : vehicle_name_ptr_map_)
{
airsim_client_->enableApiControl(true, vehicle_name_ptr_pair.first); // todo expose as rosservice?
airsim_client_->armDisarm(true, vehicle_name_ptr_pair.first); // todo exposes as rosservice?
}
origin_geo_point_ = airsim_client_->getHomeGeoPoint("");
// todo there's only one global origin geopoint for environment. but airsim API accept a parameter vehicle_name? inside carsimpawnapi.cpp, there's a geopoint being assigned in the constructor. by?
origin_geo_point_msg_ = get_gps_msg_from_airsim_geo_point(origin_geo_point_);
}
catch (rpc::rpc_error& e)
{
std::string msg = e.get_error().as<std::string>();
std::cout << "Exception raised by the API, something went wrong." << std::endl << msg << std::endl;
}
}
void AirsimROSWrapper::initialize_ros()
{
// ros params
double update_airsim_control_every_n_sec;
nh_private_.getParam("is_vulkan", is_vulkan_);
nh_private_.getParam("update_airsim_control_every_n_sec", update_airsim_control_every_n_sec);
nh_private_.getParam("publish_clock", publish_clock_);
nh_private_.param("world_frame_id", world_frame_id_, world_frame_id_);
// odom_frame_id_ = world_frame_id_ == AIRSIM_FRAME_ID ? AIRSIM_ODOM_FRAME_ID : ENU_ODOM_FRAME_ID;
world_frame_id_ = "world";
odom_frame_id_ = "odom_local_enu";
nh_private_.param("odom_frame_id", odom_frame_id_, odom_frame_id_);
// isENU_ = !(odom_frame_id_ == AIRSIM_ODOM_FRAME_ID);
nh_private_.param("coordinate_system_enu", isENU_, isENU_);
vel_cmd_duration_ = 0.05; // todo rosparam
// todo enforce dynamics constraints in this node as well?
// nh_.getParam("max_vert_vel_", max_vert_vel_);
// nh_.getParam("max_horz_vel", max_horz_vel_)
create_ros_pubs_from_settings_json();
airsim_control_update_timer_ = nh_private_.createTimer(ros::Duration(update_airsim_control_every_n_sec), &AirsimROSWrapper::drone_state_timer_cb, this);
}
// XmlRpc::XmlRpcValue can't be const in this case
void AirsimROSWrapper::create_ros_pubs_from_settings_json()
{
// subscribe to control commands on global nodehandle
gimbal_angle_quat_cmd_sub_ = nh_private_.subscribe("gimbal_angle_quat_cmd", 50, &AirsimROSWrapper::gimbal_angle_quat_cmd_cb, this);
gimbal_angle_euler_cmd_sub_ = nh_private_.subscribe("gimbal_angle_euler_cmd", 50, &AirsimROSWrapper::gimbal_angle_euler_cmd_cb, this);
origin_geo_point_pub_ = nh_private_.advertise<airsim_ros_pkgs::GPSYaw>("origin_geo_point", 10);
airsim_img_request_vehicle_name_pair_vec_.clear();
image_pub_vec_.clear();
cam_info_pub_vec_.clear();
cam_pose_pub_vec_.clear();
camera_info_msg_vec_.clear();
vehicle_name_ptr_map_.clear();
size_t lidar_cnt = 0;
image_transport::ImageTransport image_transporter(nh_private_);
// iterate over std::map<std::string, std::unique_ptr<VehicleSetting>> vehicles;
for (const auto& curr_vehicle_elem : AirSimSettings::singleton().vehicles)
{
auto& vehicle_setting = curr_vehicle_elem.second;
auto curr_vehicle_name = curr_vehicle_elem.first;
set_nans_to_zeros_in_pose(*vehicle_setting);
std::unique_ptr<VehicleROS> vehicle_ros = nullptr;
if (airsim_mode_ == AIRSIM_MODE::DRONE)
{
vehicle_ros = std::unique_ptr<MultiRotorROS>(new MultiRotorROS());
}
else
{
vehicle_ros = std::unique_ptr<CarROS>(new CarROS());
}
vehicle_ros->odom_frame_id = curr_vehicle_name + "/" + odom_frame_id_;
vehicle_ros->vehicle_name = curr_vehicle_name;
append_static_vehicle_tf(vehicle_ros.get(), *vehicle_setting);
vehicle_ros->odom_local_pub = nh_private_.advertise<nav_msgs::Odometry>(curr_vehicle_name + "/" + odom_frame_id_, 10);
vehicle_ros->depth_cam_pub = nh_private_.advertise<geometry_msgs::PoseStamped>(curr_vehicle_name + "/" + "front_center_custom" + "/pose", 10);
vehicle_ros->env_pub = nh_private_.advertise<airsim_ros_pkgs::Environment>(curr_vehicle_name + "/environment", 10);
vehicle_ros->global_gps_pub = nh_private_.advertise<sensor_msgs::NavSatFix>(curr_vehicle_name + "/global_gps", 10);
if (airsim_mode_ == AIRSIM_MODE::DRONE)
{
auto drone = static_cast<MultiRotorROS*>(vehicle_ros.get());
// bind to a single callback. todo optimal subs queue length
// bind multiple topics to a single callback, but keep track of which vehicle name it was by passing curr_vehicle_name as the 2nd argument
drone->vel_cmd_body_frame_sub = nh_private_.subscribe<airsim_ros_pkgs::VelCmd>(curr_vehicle_name + "/vel_cmd_body_frame", 1,
boost::bind(&AirsimROSWrapper::vel_cmd_body_frame_cb, this, _1, vehicle_ros->vehicle_name)); // todo ros::TransportHints().tcpNoDelay();
drone->vel_cmd_world_frame_sub = nh_private_.subscribe<airsim_ros_pkgs::VelCmd>(curr_vehicle_name + "/vel_cmd_world_frame", 1,
boost::bind(&AirsimROSWrapper::vel_cmd_world_frame_cb, this, _1, vehicle_ros->vehicle_name));
drone->takeoff_srvr = nh_private_.advertiseService<airsim_ros_pkgs::Takeoff::Request, airsim_ros_pkgs::Takeoff::Response>(curr_vehicle_name + "/takeoff",
boost::bind(&AirsimROSWrapper::takeoff_srv_cb, this, _1, _2, vehicle_ros->vehicle_name) );
drone->land_srvr = nh_private_.advertiseService<airsim_ros_pkgs::Land::Request, airsim_ros_pkgs::Land::Response>(curr_vehicle_name + "/land",
boost::bind(&AirsimROSWrapper::land_srv_cb, this, _1, _2, vehicle_ros->vehicle_name) );
// vehicle_ros.reset_srvr = nh_private_.advertiseService(curr_vehicle_name + "/reset",&AirsimROSWrapper::reset_srv_cb, this);
}
else
{
auto car = static_cast<CarROS*>(vehicle_ros.get());
car->car_cmd_sub = nh_private_.subscribe<airsim_ros_pkgs::CarControls>(curr_vehicle_name + "/car_cmd", 1,
boost::bind(&AirsimROSWrapper::car_cmd_cb, this, _1, vehicle_ros->vehicle_name));
car->car_state_pub = nh_private_.advertise<airsim_ros_pkgs::CarState>(curr_vehicle_name + "/car_state", 10);
}
// iterate over camera map std::map<std::string, CameraSetting> .cameras;
for (auto& curr_camera_elem : vehicle_setting->cameras)
{
auto& camera_setting = curr_camera_elem.second;
auto& curr_camera_name = curr_camera_elem.first;
set_nans_to_zeros_in_pose(*vehicle_setting, camera_setting);
append_static_camera_tf(vehicle_ros.get(), curr_camera_name, camera_setting);
// camera_setting.gimbal
// std::vector<ImageRequest> current_image_request_vec;
// current_image_request_vec.clear();
// iterate over capture_setting std::map<int, CaptureSetting> capture_settings
for (const auto& curr_capture_elem : camera_setting.capture_settings)
{
auto& capture_setting = curr_capture_elem.second;
// todo why does AirSimSettings::loadCaptureSettings calls AirSimSettings::initializeCaptureSettings()
// which initializes default capture settings for _all_ NINE msr::airlib::ImageCaptureBase::ImageType
if ( !(std::isnan(capture_setting.fov_degrees)) )
{
ImageType curr_image_type = msr::airlib::Utils::toEnum<ImageType>(capture_setting.image_type);
// if scene / segmentation / surface normals / infrared, get uncompressed image with pixels_as_floats = false
/* if (capture_setting.image_type == 0 || capture_setting.image_type == 5 || capture_setting.image_type == 6 || capture_setting.image_type == 7)
{
current_image_request_vec.push_back(ImageRequest(curr_camera_name, curr_image_type, false, false));
}
// if {DepthPlanar, DepthPerspective,DepthVis, DisparityNormalized}, get float image
else
{
current_image_request_vec.push_back(ImageRequest(curr_camera_name, curr_image_type, true));
} */
// image_pub_vec_.push_back(image_transporter.advertise(curr_vehicle_name + "/" + curr_camera_name + "/" + image_type_int_to_string_map_.at(capture_setting.image_type), 1));
cam_info_pub_vec_.push_back(nh_private_.advertise<sensor_msgs::CameraInfo> (curr_vehicle_name + "/" + curr_camera_name + "/camera_info", 10));
//cam_pose_pub_vec_.push_back(nh_private_.advertise<geometry_msgs::PoseStamped>(curr_vehicle_name + "/" + curr_camera_name + "/pose", 10));
camera_info_msg_vec_.push_back(generate_cam_info(curr_camera_name, camera_setting, capture_setting));
}
}
// push back pair (vector of image captures, current vehicle name)
// airsim_img_request_vehicle_name_pair_vec_.push_back(std::make_pair(current_image_request_vec, curr_vehicle_name));
}
depth_img_pub_ = image_transporter.advertise("PX4/front_center_custom/DepthPerspective", 1);
scene_img_pub_ = image_transporter.advertise("PX4/front_center/Scene", 1);
// iterate over sensors
std::vector<SensorPublisher> sensors;
for (auto& curr_sensor_map : vehicle_setting->sensors)
{
auto& sensor_name = curr_sensor_map.first;
auto& sensor_setting = curr_sensor_map.second;
if (sensor_setting->enabled)
{
SensorPublisher sensor_publisher;
sensor_publisher.sensor_name = sensor_setting->sensor_name;
sensor_publisher.sensor_type = sensor_setting->sensor_type;
switch (sensor_setting->sensor_type)
{
case SensorBase::SensorType::Barometer:
{
std::cout << "Barometer" << std::endl;
sensor_publisher.publisher = nh_private_.advertise<airsim_ros_pkgs::Altimeter>(curr_vehicle_name + "/altimeter/" + sensor_name, 10);
break;
}
case SensorBase::SensorType::Imu:
{
std::cout << "Imu" << std::endl;
sensor_publisher.publisher = nh_private_.advertise<sensor_msgs::Imu>(curr_vehicle_name + "/imu/" + sensor_name, 10);
break;
}
case SensorBase::SensorType::Gps:
{
std::cout << "Gps" << std::endl;
sensor_publisher.publisher = nh_private_.advertise<sensor_msgs::NavSatFix>(curr_vehicle_name + "/gps/" + sensor_name, 10);
break;
}
case SensorBase::SensorType::Magnetometer:
{
std::cout << "Magnetometer" << std::endl;
sensor_publisher.publisher = nh_private_.advertise<sensor_msgs::MagneticField>(curr_vehicle_name + "/magnetometer/" + sensor_name, 10);
break;
}
case SensorBase::SensorType::Distance:
{
std::cout << "Distance" << std::endl;
sensor_publisher.publisher = nh_private_.advertise<sensor_msgs::Range>(curr_vehicle_name + "/distance/" + sensor_name, 10);
break;
}
case SensorBase::SensorType::Lidar:
{
std::cout << "Lidar" << std::endl;
auto lidar_setting = *static_cast<LidarSetting*>(sensor_setting.get());
msr::airlib::LidarSimpleParams params;
params.initializeFromSettings(lidar_setting);
append_static_lidar_tf(vehicle_ros.get(), sensor_name, params);
sensor_publisher.publisher = nh_private_.advertise<sensor_msgs::PointCloud2>(curr_vehicle_name + "/lidar/" + sensor_name, 10);
break;
}
default:
{
throw std::invalid_argument("Unexpected sensor type");
}
}
sensors.emplace_back(sensor_publisher);
}
}
// we want fast access to the lidar sensors for callback handling, sort them out now
auto isLidar = std::function<bool(const SensorPublisher& pub)>([](const SensorPublisher& pub)
{
return pub.sensor_type == SensorBase::SensorType::Lidar;
});
size_t cnt = std::count_if( sensors.begin(), sensors.end(), isLidar);
lidar_cnt+=cnt;
vehicle_ros->lidar_pubs.resize(cnt);
vehicle_ros->sensor_pubs.resize(sensors.size() - cnt);
std::partition_copy (sensors.begin(), sensors.end(), vehicle_ros->lidar_pubs.begin(), vehicle_ros->sensor_pubs.begin(), isLidar);
vehicle_name_ptr_map_.emplace(curr_vehicle_name, std::move(vehicle_ros)); // allows fast lookup in command callbacks in case of a lot of drones
}
// add takeoff and land all services if more than 2 drones
if (vehicle_name_ptr_map_.size() > 1 && airsim_mode_ == AIRSIM_MODE::DRONE)
{
takeoff_all_srvr_ = nh_private_.advertiseService("all_robots/takeoff", &AirsimROSWrapper::takeoff_all_srv_cb, this);
land_all_srvr_ = nh_private_.advertiseService("all_robots/land", &AirsimROSWrapper::land_all_srv_cb, this);
// gimbal_angle_quat_cmd_sub_ = nh_.subscribe("gimbal_angle_quat_cmd", 50, &AirsimROSWrapper::gimbal_angle_quat_cmd_cb, this);
vel_cmd_all_body_frame_sub_ = nh_private_.subscribe("all_robots/vel_cmd_body_frame", 1, &AirsimROSWrapper::vel_cmd_all_body_frame_cb, this);
vel_cmd_all_world_frame_sub_ = nh_private_.subscribe("all_robots/vel_cmd_world_frame", 1, &AirsimROSWrapper::vel_cmd_all_world_frame_cb, this);
vel_cmd_group_body_frame_sub_ = nh_private_.subscribe("group_of_robots/vel_cmd_body_frame", 1, &AirsimROSWrapper::vel_cmd_group_body_frame_cb, this);
vel_cmd_group_world_frame_sub_ = nh_private_.subscribe("group_of_obots/vel_cmd_world_frame", 1, &AirsimROSWrapper::vel_cmd_group_world_frame_cb, this);
takeoff_group_srvr_ = nh_private_.advertiseService("group_of_robots/takeoff", &AirsimROSWrapper::takeoff_group_srv_cb, this);
land_group_srvr_ = nh_private_.advertiseService("group_of_robots/land", &AirsimROSWrapper::land_group_srv_cb, this);
}
// todo add per vehicle reset in AirLib API
reset_srvr_ = nh_private_.advertiseService("reset",&AirsimROSWrapper::reset_srv_cb, this);
if (publish_clock_)
{
clock_pub_ = nh_private_.advertise<rosgraph_msgs::Clock>("clock", 1);
}
// if >0 cameras, add one more thread for img_request_timer_cb
//if(!airsim_img_request_vehicle_name_pair_vec_.empty())
//{
double update_depth_img_response_every_n_sec;
double update_scene_img_response_every_n_sec;
nh_private_.getParam("update_depth_img_response_every_n_sec", update_depth_img_response_every_n_sec);
nh_private_.getParam("update_scene_img_response_every_n_sec", update_scene_img_response_every_n_sec);
ros::TimerOptions timer_options(ros::Duration(update_scene_img_response_every_n_sec), boost::bind(&AirsimROSWrapper::stereo_img_response_timer_cb, this, _1), &img_timer_cb_queue_);
ros::TimerOptions depth_timer_options(ros::Duration(update_depth_img_response_every_n_sec), boost::bind(&AirsimROSWrapper::depth_img_response_timer_cb, this, _1), &depth_img_timer_cb_queue_);
airsim_img_response_timer_ = nh_private_.createTimer(timer_options);
airsim_depth_img_response_timer_ = nh_private_.createTimer(depth_timer_options);
is_used_img_timer_cb_queue_ = true;
//}
// lidars update on their own callback/thread at a given rate
if (lidar_cnt > 0)
{
double update_lidar_every_n_sec;
nh_private_.getParam("update_lidar_every_n_sec", update_lidar_every_n_sec);
// nh_private_.setCallbackQueue(&lidar_timer_cb_queue_);
ros::TimerOptions timer_options(ros::Duration(update_lidar_every_n_sec), boost::bind(&AirsimROSWrapper::lidar_timer_cb, this, _1), &lidar_timer_cb_queue_);
airsim_lidar_update_timer_ = nh_private_.createTimer(timer_options);
is_used_lidar_timer_cb_queue_ = true;
}
collision_pub_ = nh_private_.advertise<std_msgs::Bool>("collision", 10);
initialize_airsim();
}
// todo: error check. if state is not landed, return error.
bool AirsimROSWrapper::takeoff_srv_cb(airsim_ros_pkgs::Takeoff::Request& request, airsim_ros_pkgs::Takeoff::Response& response, const std::string& vehicle_name)
{
std::lock_guard<std::mutex> guard(drone_control_mutex_);
if (request.waitOnLastTask)
static_cast<msr::airlib::MultirotorRpcLibClient*>(airsim_client_.get())->takeoffAsync(20, vehicle_name)->waitOnLastTask(); // todo value for timeout_sec?
// response.success =
else
static_cast<msr::airlib::MultirotorRpcLibClient*>(airsim_client_.get())->takeoffAsync(20, vehicle_name);
// response.success =
return true;
}
bool AirsimROSWrapper::takeoff_group_srv_cb(airsim_ros_pkgs::TakeoffGroup::Request& request, airsim_ros_pkgs::TakeoffGroup::Response& response)
{
std::lock_guard<std::mutex> guard(drone_control_mutex_);
if (request.waitOnLastTask)
for(const auto& vehicle_name : request.vehicle_names)
static_cast<msr::airlib::MultirotorRpcLibClient*>(airsim_client_.get())->takeoffAsync(20, vehicle_name)->waitOnLastTask(); // todo value for timeout_sec?
// response.success =
else
for(const auto& vehicle_name : request.vehicle_names)
static_cast<msr::airlib::MultirotorRpcLibClient*>(airsim_client_.get())->takeoffAsync(20, vehicle_name);
// response.success =
return true;
}
bool AirsimROSWrapper::takeoff_all_srv_cb(airsim_ros_pkgs::Takeoff::Request& request, airsim_ros_pkgs::Takeoff::Response& response)
{
std::lock_guard<std::mutex> guard(drone_control_mutex_);
if (request.waitOnLastTask)
for(const auto& vehicle_name_ptr_pair : vehicle_name_ptr_map_)
static_cast<msr::airlib::MultirotorRpcLibClient*>(airsim_client_.get())->takeoffAsync(20, vehicle_name_ptr_pair.first)->waitOnLastTask(); // todo value for timeout_sec?
// response.success =
else
for(const auto& vehicle_name_ptr_pair : vehicle_name_ptr_map_)
static_cast<msr::airlib::MultirotorRpcLibClient*>(airsim_client_.get())->takeoffAsync(20, vehicle_name_ptr_pair.first);
// response.success =
return true;
}
bool AirsimROSWrapper::land_srv_cb(airsim_ros_pkgs::Land::Request& request, airsim_ros_pkgs::Land::Response& response, const std::string& vehicle_name)
{
std::lock_guard<std::mutex> guard(drone_control_mutex_);
if (request.waitOnLastTask)
static_cast<msr::airlib::MultirotorRpcLibClient*>(airsim_client_.get())->landAsync(60, vehicle_name)->waitOnLastTask();
else
static_cast<msr::airlib::MultirotorRpcLibClient*>(airsim_client_.get())->landAsync(60, vehicle_name);
return true; //todo
}
bool AirsimROSWrapper::land_group_srv_cb(airsim_ros_pkgs::LandGroup::Request& request, airsim_ros_pkgs::LandGroup::Response& response)
{
std::lock_guard<std::mutex> guard(drone_control_mutex_);
if (request.waitOnLastTask)
for(const auto& vehicle_name : request.vehicle_names)
static_cast<msr::airlib::MultirotorRpcLibClient*>(airsim_client_.get())->landAsync(60, vehicle_name)->waitOnLastTask();
else
for(const auto& vehicle_name : request.vehicle_names)
static_cast<msr::airlib::MultirotorRpcLibClient*>(airsim_client_.get())->landAsync(60, vehicle_name);
return true; //todo
}
bool AirsimROSWrapper::land_all_srv_cb(airsim_ros_pkgs::Land::Request& request, airsim_ros_pkgs::Land::Response& response)
{
std::lock_guard<std::mutex> guard(drone_control_mutex_);
if (request.waitOnLastTask)
for(const auto& vehicle_name_ptr_pair : vehicle_name_ptr_map_)
static_cast<msr::airlib::MultirotorRpcLibClient*>(airsim_client_.get())->landAsync(60, vehicle_name_ptr_pair.first)->waitOnLastTask();
else
for(const auto& vehicle_name_ptr_pair : vehicle_name_ptr_map_)
static_cast<msr::airlib::MultirotorRpcLibClient*>(airsim_client_.get())->landAsync(60, vehicle_name_ptr_pair.first);
return true; //todo
}
// todo add reset by vehicle_name API to airlib
// todo not async remove waitonlasttask
bool AirsimROSWrapper::reset_srv_cb(airsim_ros_pkgs::Reset::Request& request, airsim_ros_pkgs::Reset::Response& response)
{
std::lock_guard<std::mutex> guard(drone_control_mutex_);
airsim_client_.reset();
return true; //todo
}
tf2::Quaternion AirsimROSWrapper::get_tf2_quat(const msr::airlib::Quaternionr& airlib_quat) const
{
return tf2::Quaternion(airlib_quat.x(), airlib_quat.y(), airlib_quat.z(), airlib_quat.w());
}
msr::airlib::Quaternionr AirsimROSWrapper::get_airlib_quat(const geometry_msgs::Quaternion& geometry_msgs_quat) const
{
return msr::airlib::Quaternionr(geometry_msgs_quat.w, geometry_msgs_quat.x, geometry_msgs_quat.y, geometry_msgs_quat.z);
}
msr::airlib::Quaternionr AirsimROSWrapper::get_airlib_quat(const tf2::Quaternion& tf2_quat) const
{
return msr::airlib::Quaternionr(tf2_quat.w(), tf2_quat.x(), tf2_quat.y(), tf2_quat.z());
}
void AirsimROSWrapper::car_cmd_cb(const airsim_ros_pkgs::CarControls::ConstPtr& msg, const std::string& vehicle_name)
{
std::lock_guard<std::mutex> guard(drone_control_mutex_);
auto car = static_cast<CarROS*>(vehicle_name_ptr_map_[vehicle_name].get());
car->car_cmd.throttle = msg->throttle;
car->car_cmd.steering = msg->steering;
car->car_cmd.brake = msg->brake;
car->car_cmd.handbrake = msg->handbrake;
car->car_cmd.is_manual_gear = msg->manual;
car->car_cmd.manual_gear = msg->manual_gear;
car->car_cmd.gear_immediate = msg->gear_immediate;
car->has_car_cmd = true;
}
msr::airlib::Pose AirsimROSWrapper::get_airlib_pose(const float& x, const float& y, const float& z, const msr::airlib::Quaternionr& airlib_quat) const
{
return msr::airlib::Pose(msr::airlib::Vector3r(x, y, z), airlib_quat);
}
// void AirsimROSWrapper::vel_cmd_body_frame_cb(const airsim_ros_pkgs::VelCmd& msg, const std::string& vehicle_name)
void AirsimROSWrapper::vel_cmd_body_frame_cb(const airsim_ros_pkgs::VelCmd::ConstPtr& msg, const std::string& vehicle_name)
{
std::lock_guard<std::mutex> guard(drone_control_mutex_);
auto drone = static_cast<MultiRotorROS*>(vehicle_name_ptr_map_[vehicle_name].get());
double roll, pitch, yaw;
tf2::Matrix3x3(get_tf2_quat(drone->curr_drone_state.kinematics_estimated.pose.orientation)).getRPY(roll, pitch, yaw); // ros uses xyzw
// todo do actual body frame?
drone->vel_cmd.x = (msg->twist.linear.x * cos(yaw)) - (msg->twist.linear.y * sin(yaw)); //body frame assuming zero pitch roll
drone->vel_cmd.y = (msg->twist.linear.x * sin(yaw)) + (msg->twist.linear.y * cos(yaw)); //body frame
drone->vel_cmd.z = msg->twist.linear.z;
drone->vel_cmd.drivetrain = msr::airlib::DrivetrainType::MaxDegreeOfFreedom;
drone->vel_cmd.yaw_mode.is_rate = true;
// airsim uses degrees
drone->vel_cmd.yaw_mode.yaw_or_rate = math_common::rad2deg(msg->twist.angular.z);
drone->has_vel_cmd = true;
}
void AirsimROSWrapper::vel_cmd_group_body_frame_cb(const airsim_ros_pkgs::VelCmdGroup& msg)
{
std::lock_guard<std::mutex> guard(drone_control_mutex_);
for(const auto& vehicle_name : msg.vehicle_names)
{
auto drone = static_cast<MultiRotorROS*>(vehicle_name_ptr_map_[vehicle_name].get());
double roll, pitch, yaw;
tf2::Matrix3x3(get_tf2_quat(drone->curr_drone_state.kinematics_estimated.pose.orientation)).getRPY(roll, pitch, yaw); // ros uses xyzw
// todo do actual body frame?
drone->vel_cmd.x = (msg.twist.linear.x * cos(yaw)) - (msg.twist.linear.y * sin(yaw)); //body frame assuming zero pitch roll
drone->vel_cmd.y = (msg.twist.linear.x * sin(yaw)) + (msg.twist.linear.y * cos(yaw)); //body frame
drone->vel_cmd.z = msg.twist.linear.z;
drone->vel_cmd.drivetrain = msr::airlib::DrivetrainType::MaxDegreeOfFreedom;
drone->vel_cmd.yaw_mode.is_rate = true;
// airsim uses degrees
drone->vel_cmd.yaw_mode.yaw_or_rate = math_common::rad2deg(msg.twist.angular.z);
drone->has_vel_cmd = true;
}
}
// void AirsimROSWrapper::vel_cmd_all_body_frame_cb(const airsim_ros_pkgs::VelCmd::ConstPtr& msg)
void AirsimROSWrapper::vel_cmd_all_body_frame_cb(const airsim_ros_pkgs::VelCmd& msg)
{
std::lock_guard<std::mutex> guard(drone_control_mutex_);
// todo expose waitOnLastTask or nah?
for(auto& vehicle_name_ptr_pair : vehicle_name_ptr_map_)
{
auto drone = static_cast<MultiRotorROS*>(vehicle_name_ptr_pair.second.get());
double roll, pitch, yaw;
tf2::Matrix3x3(get_tf2_quat(drone->curr_drone_state.kinematics_estimated.pose.orientation)).getRPY(roll, pitch, yaw); // ros uses xyzw
// todo do actual body frame?
drone->vel_cmd.x = (msg.twist.linear.x * cos(yaw)) - (msg.twist.linear.y * sin(yaw)); //body frame assuming zero pitch roll
drone->vel_cmd.y = (msg.twist.linear.x * sin(yaw)) + (msg.twist.linear.y * cos(yaw)); //body frame
drone->vel_cmd.z = msg.twist.linear.z;
drone->vel_cmd.drivetrain = msr::airlib::DrivetrainType::MaxDegreeOfFreedom;
drone->vel_cmd.yaw_mode.is_rate = true;
// airsim uses degrees
drone->vel_cmd.yaw_mode.yaw_or_rate = math_common::rad2deg(msg.twist.angular.z);
drone->has_vel_cmd = true;
}
}
void AirsimROSWrapper::vel_cmd_world_frame_cb(const airsim_ros_pkgs::VelCmd::ConstPtr& msg, const std::string& vehicle_name)
{
std::lock_guard<std::mutex> guard(drone_control_mutex_);
auto drone = static_cast<MultiRotorROS*>(vehicle_name_ptr_map_[vehicle_name].get());
drone->vel_cmd.x = msg->twist.linear.x;
drone->vel_cmd.y = msg->twist.linear.y;
drone->vel_cmd.z = msg->twist.linear.z;
drone->vel_cmd.drivetrain = msr::airlib::DrivetrainType::MaxDegreeOfFreedom;
drone->vel_cmd.yaw_mode.is_rate = true;
drone->vel_cmd.yaw_mode.yaw_or_rate = math_common::rad2deg(msg->twist.angular.z);
drone->has_vel_cmd = true;
}
// this is kinda unnecessary but maybe it makes life easier for the end user.
void AirsimROSWrapper::vel_cmd_group_world_frame_cb(const airsim_ros_pkgs::VelCmdGroup& msg)
{
std::lock_guard<std::mutex> guard(drone_control_mutex_);
for(const auto& vehicle_name : msg.vehicle_names)
{
auto drone = static_cast<MultiRotorROS*>(vehicle_name_ptr_map_[vehicle_name].get());
drone->vel_cmd.x = msg.twist.linear.x;
drone->vel_cmd.y = msg.twist.linear.y;
drone->vel_cmd.z = msg.twist.linear.z;
drone->vel_cmd.drivetrain = msr::airlib::DrivetrainType::MaxDegreeOfFreedom;
drone->vel_cmd.yaw_mode.is_rate = true;
drone->vel_cmd.yaw_mode.yaw_or_rate = math_common::rad2deg(msg.twist.angular.z);
drone->has_vel_cmd = true;
}
}
void AirsimROSWrapper::vel_cmd_all_world_frame_cb(const airsim_ros_pkgs::VelCmd& msg)
{
std::lock_guard<std::mutex> guard(drone_control_mutex_);
// todo expose waitOnLastTask or nah?
for(auto& vehicle_name_ptr_pair : vehicle_name_ptr_map_)
{
auto drone = static_cast<MultiRotorROS*>(vehicle_name_ptr_pair.second.get());
drone->vel_cmd.x = msg.twist.linear.x;
drone->vel_cmd.y = msg.twist.linear.y;
drone->vel_cmd.z = msg.twist.linear.z;
drone->vel_cmd.drivetrain = msr::airlib::DrivetrainType::MaxDegreeOfFreedom;
drone->vel_cmd.yaw_mode.is_rate = true;
drone->vel_cmd.yaw_mode.yaw_or_rate = math_common::rad2deg(msg.twist.angular.z);
drone->has_vel_cmd = true;
}
}
// todo support multiple gimbal commands
void AirsimROSWrapper::gimbal_angle_quat_cmd_cb(const airsim_ros_pkgs::GimbalAngleQuatCmd& gimbal_angle_quat_cmd_msg)
{
tf2::Quaternion quat_control_cmd;
try
{
tf2::convert(gimbal_angle_quat_cmd_msg.orientation, quat_control_cmd);
quat_control_cmd.normalize();
gimbal_cmd_.target_quat = get_airlib_quat(quat_control_cmd); // airsim uses wxyz
gimbal_cmd_.camera_name = gimbal_angle_quat_cmd_msg.camera_name;
gimbal_cmd_.vehicle_name = gimbal_angle_quat_cmd_msg.vehicle_name;
has_gimbal_cmd_ = true;
}
catch (tf2::TransformException& ex)
{
ROS_WARN("%s",ex.what());
}
}
// todo support multiple gimbal commands
// 1. find quaternion of default gimbal pose
// 2. forward multiply with quaternion equivalent to desired euler commands (in degrees)
// 3. call airsim client's setCameraPose which sets camera pose wrt world (or takeoff?) ned frame. todo
void AirsimROSWrapper::gimbal_angle_euler_cmd_cb(const airsim_ros_pkgs::GimbalAngleEulerCmd& gimbal_angle_euler_cmd_msg)
{
try
{
tf2::Quaternion quat_control_cmd;
quat_control_cmd.setRPY(math_common::deg2rad(gimbal_angle_euler_cmd_msg.roll), math_common::deg2rad(gimbal_angle_euler_cmd_msg.pitch), math_common::deg2rad(gimbal_angle_euler_cmd_msg.yaw));
quat_control_cmd.normalize();
gimbal_cmd_.target_quat = get_airlib_quat(quat_control_cmd);
gimbal_cmd_.camera_name = gimbal_angle_euler_cmd_msg.camera_name;
gimbal_cmd_.vehicle_name = gimbal_angle_euler_cmd_msg.vehicle_name;
has_gimbal_cmd_ = true;
}
catch (tf2::TransformException& ex)
{
ROS_WARN("%s",ex.what());
}
}
airsim_ros_pkgs::CarState AirsimROSWrapper::get_roscarstate_msg_from_car_state(const msr::airlib::CarApiBase::CarState& car_state) const
{
airsim_ros_pkgs::CarState state_msg;
const auto odo = get_odom_msg_from_car_state(car_state);
state_msg.pose = odo.pose;
state_msg.twist = odo.twist;
state_msg.speed = car_state.speed;
state_msg.gear = car_state.gear;
state_msg.rpm = car_state.rpm;
state_msg.maxrpm = car_state.maxrpm;
state_msg.handbrake = car_state.handbrake;
state_msg.header.stamp = airsim_timestamp_to_ros(car_state.timestamp);
return state_msg;
}
nav_msgs::Odometry AirsimROSWrapper::get_odom_msg_from_car_state(const msr::airlib::CarApiBase::CarState& car_state) const
{
nav_msgs::Odometry odom_msg;
odom_msg.pose.pose.position.x = car_state.getPosition().x();
odom_msg.pose.pose.position.y = car_state.getPosition().y();
odom_msg.pose.pose.position.z = car_state.getPosition().z();
odom_msg.pose.pose.orientation.x = car_state.getOrientation().x();
odom_msg.pose.pose.orientation.y = car_state.getOrientation().y();
odom_msg.pose.pose.orientation.z = car_state.getOrientation().z();
odom_msg.pose.pose.orientation.w = car_state.getOrientation().w();
odom_msg.twist.twist.linear.x = car_state.kinematics_estimated.twist.linear.x();
odom_msg.twist.twist.linear.y = car_state.kinematics_estimated.twist.linear.y();
odom_msg.twist.twist.linear.z = car_state.kinematics_estimated.twist.linear.z();
odom_msg.twist.twist.angular.x = car_state.kinematics_estimated.twist.angular.x();
odom_msg.twist.twist.angular.y = car_state.kinematics_estimated.twist.angular.y();
odom_msg.twist.twist.angular.z = car_state.kinematics_estimated.twist.angular.z();
if (isENU_)
{
std::swap(odom_msg.pose.pose.position.x, odom_msg.pose.pose.position.y);
odom_msg.pose.pose.position.z = -odom_msg.pose.pose.position.z;
std::swap(odom_msg.pose.pose.orientation.x, odom_msg.pose.pose.orientation.y);
odom_msg.pose.pose.orientation.z = -odom_msg.pose.pose.orientation.z;
std::swap(odom_msg.twist.twist.linear.x, odom_msg.twist.twist.linear.y);
odom_msg.twist.twist.linear.z = -odom_msg.twist.twist.linear.z;
std::swap(odom_msg.twist.twist.angular.x, odom_msg.twist.twist.angular.y);
odom_msg.twist.twist.angular.z = -odom_msg.twist.twist.angular.z;
}
return odom_msg;
}
nav_msgs::Odometry AirsimROSWrapper::get_odom_msg_from_multirotor_state(const msr::airlib::MultirotorState& drone_state) const
{
nav_msgs::Odometry odom_msg;
odom_msg.pose.pose.position.x = drone_state.getPosition().x();
odom_msg.pose.pose.position.y = drone_state.getPosition().y();
odom_msg.pose.pose.position.z = drone_state.getPosition().z();
odom_msg.pose.pose.orientation.x = drone_state.getOrientation().x();
odom_msg.pose.pose.orientation.y = drone_state.getOrientation().y();
odom_msg.pose.pose.orientation.z = drone_state.getOrientation().z();
odom_msg.pose.pose.orientation.w = drone_state.getOrientation().w();
odom_msg.twist.twist.linear.x = drone_state.kinematics_estimated.twist.linear.x();
odom_msg.twist.twist.linear.y = drone_state.kinematics_estimated.twist.linear.y();
odom_msg.twist.twist.linear.z = drone_state.kinematics_estimated.twist.linear.z();
odom_msg.twist.twist.angular.x = drone_state.kinematics_estimated.twist.angular.x();
odom_msg.twist.twist.angular.y = drone_state.kinematics_estimated.twist.angular.y();
odom_msg.twist.twist.angular.z = drone_state.kinematics_estimated.twist.angular.z();
if (isENU_)
{
std::swap(odom_msg.pose.pose.position.x, odom_msg.pose.pose.position.y);
odom_msg.pose.pose.position.z = -odom_msg.pose.pose.position.z;
std::swap(odom_msg.pose.pose.orientation.x, odom_msg.pose.pose.orientation.y);
odom_msg.pose.pose.orientation.z = -odom_msg.pose.pose.orientation.z;
std::swap(odom_msg.twist.twist.linear.x, odom_msg.twist.twist.linear.y);
odom_msg.twist.twist.linear.z = -odom_msg.twist.twist.linear.z;
std::swap(odom_msg.twist.twist.angular.x, odom_msg.twist.twist.angular.y);
odom_msg.twist.twist.angular.z = -odom_msg.twist.twist.angular.z;
}
return odom_msg;
}
// https://docs.ros.org/jade/api/sensor_msgs/html/point__cloud__conversion_8h_source.html#l00066
// look at UnrealLidarSensor.cpp UnrealLidarSensor::getPointCloud() for math
// read this carefully https://docs.ros.org/kinetic/api/sensor_msgs/html/msg/PointCloud2.html
sensor_msgs::PointCloud2 AirsimROSWrapper::get_lidar_msg_from_airsim(const msr::airlib::LidarData& lidar_data, const std::string& vehicle_name) const
{
sensor_msgs::PointCloud2 lidar_msg;
lidar_msg.header.stamp = ros::Time::now();
lidar_msg.header.frame_id = vehicle_name;
if (lidar_data.point_cloud.size() > 3)
{
lidar_msg.height = 1;
lidar_msg.width = lidar_data.point_cloud.size() / 3;
lidar_msg.fields.resize(3);
lidar_msg.fields[0].name = "x";
lidar_msg.fields[1].name = "y";
lidar_msg.fields[2].name = "z";
int offset = 0;
for (size_t d = 0; d < lidar_msg.fields.size(); ++d, offset += 4)
{
lidar_msg.fields[d].offset = offset;
lidar_msg.fields[d].datatype = sensor_msgs::PointField::FLOAT32;
lidar_msg.fields[d].count = 1;
}
lidar_msg.is_bigendian = false;
lidar_msg.point_step = offset; // 4 * num fields
lidar_msg.row_step = lidar_msg.point_step * lidar_msg.width;
lidar_msg.is_dense = true; // todo
std::vector<float> data_std = lidar_data.point_cloud;
const unsigned char* bytes = reinterpret_cast<const unsigned char*>(data_std.data());
vector<unsigned char> lidar_msg_data(bytes, bytes + sizeof(float) * data_std.size());
lidar_msg.data = std::move(lidar_msg_data);
}
else
{
// msg = []
}
if (isENU_)
{
try
{
sensor_msgs::PointCloud2 lidar_msg_enu;
auto transformStampedENU = tf_buffer_.lookupTransform(AIRSIM_FRAME_ID, vehicle_name, ros::Time(0), ros::Duration(1));
tf2::doTransform(lidar_msg, lidar_msg_enu, transformStampedENU);
lidar_msg_enu.header.stamp = lidar_msg.header.stamp;
lidar_msg_enu.header.frame_id = lidar_msg.header.frame_id;
lidar_msg = std::move(lidar_msg_enu);
}
catch (tf2::TransformException &ex)
{
ROS_WARN("%s", ex.what());
ros::Duration(1.0).sleep();
}
}
return lidar_msg;
}
airsim_ros_pkgs::Environment AirsimROSWrapper::get_environment_msg_from_airsim(const msr::airlib::Environment::State& env_data) const
{
airsim_ros_pkgs::Environment env_msg;
env_msg.position.x = env_data.position.x();
env_msg.position.y = env_data.position.y();
env_msg.position.z = env_data.position.z();
env_msg.geo_point.latitude = env_data.geo_point.latitude;
env_msg.geo_point.longitude = env_data.geo_point.longitude;
env_msg.geo_point.altitude = env_data.geo_point.altitude;
env_msg.gravity.x = env_data.gravity.x();
env_msg.gravity.y = env_data.gravity.y();
env_msg.gravity.z = env_data.gravity.z();
env_msg.air_pressure = env_data.air_pressure;
env_msg.temperature = env_data.temperature;
env_msg.air_density = env_data.temperature;
return env_msg;
}
sensor_msgs::MagneticField AirsimROSWrapper::get_mag_msg_from_airsim(const msr::airlib::MagnetometerBase::Output& mag_data) const
{
sensor_msgs::MagneticField mag_msg;
mag_msg.magnetic_field.x = mag_data.magnetic_field_body.x();
mag_msg.magnetic_field.y = mag_data.magnetic_field_body.y();
mag_msg.magnetic_field.z = mag_data.magnetic_field_body.z();
std::copy(std::begin(mag_data.magnetic_field_covariance),
std::end(mag_data.magnetic_field_covariance),
std::begin(mag_msg.magnetic_field_covariance));
mag_msg.header.stamp = airsim_timestamp_to_ros(mag_data.time_stamp);
return mag_msg;
}
// todo covariances
sensor_msgs::NavSatFix AirsimROSWrapper::get_gps_msg_from_airsim(const msr::airlib::GpsBase::Output& gps_data) const
{
sensor_msgs::NavSatFix gps_msg;
gps_msg.header.stamp = airsim_timestamp_to_ros(gps_data.time_stamp);
gps_msg.latitude = gps_data.gnss.geo_point.latitude;
gps_msg.longitude = gps_data.gnss.geo_point.longitude;
gps_msg.altitude = gps_data.gnss.geo_point.altitude;
gps_msg.status.service = sensor_msgs::NavSatStatus::SERVICE_GLONASS;
gps_msg.status.status = gps_data.gnss.fix_type;
// gps_msg.position_covariance_type =
// gps_msg.position_covariance =
return gps_msg;
}
sensor_msgs::Range AirsimROSWrapper::get_range_from_airsim(const msr::airlib::DistanceSensorData& dist_data) const
{
sensor_msgs::Range dist_msg;
dist_msg.header.stamp = airsim_timestamp_to_ros(dist_data.time_stamp);
dist_msg.range = dist_data.distance;
dist_msg.min_range = dist_data.min_distance;
dist_msg.max_range = dist_data.min_distance;
return dist_msg;
}
airsim_ros_pkgs::Altimeter AirsimROSWrapper::get_altimeter_msg_from_airsim(const msr::airlib::BarometerBase::Output& alt_data) const
{
airsim_ros_pkgs::Altimeter alt_msg;
alt_msg.header.stamp = airsim_timestamp_to_ros(alt_data.time_stamp);
alt_msg.altitude = alt_data.altitude;
alt_msg.pressure = alt_data.pressure;
alt_msg.qnh = alt_data.qnh;
return alt_msg;
}
// todo covariances
ros::Time AirsimROSWrapper::make_ts(uint64_t unreal_ts) {
if (first_imu_unreal_ts < 0) {
first_imu_unreal_ts = unreal_ts;
first_imu_ros_ts = ros::Time::now();
}
return first_imu_ros_ts + ros::Duration( (unreal_ts- first_imu_unreal_ts)/1e9);
}
sensor_msgs::Imu AirsimROSWrapper::get_imu_msg_from_airsim(const msr::airlib::ImuBase::Output& imu_data)
{
sensor_msgs::Imu imu_msg;
// imu_msg.header.frame_id = "/airsim/odom_local_ned";// todo multiple drones
// imu_msg.header.stamp = airsim_timestamp_to_ros(imu_data.time_stamp);
imu_msg.header.stamp = ros::Time::now();
imu_msg.orientation.x = imu_data.orientation.x();
imu_msg.orientation.y = imu_data.orientation.y();
imu_msg.orientation.z = imu_data.orientation.z();
imu_msg.orientation.w = imu_data.orientation.w();
// todo radians per second
imu_msg.angular_velocity.x = imu_data.angular_velocity.x();
imu_msg.angular_velocity.y = imu_data.angular_velocity.y();
imu_msg.angular_velocity.z = imu_data.angular_velocity.z();
// meters/s2^m
imu_msg.linear_acceleration.x = imu_data.linear_acceleration.x();
imu_msg.linear_acceleration.y = imu_data.linear_acceleration.y();
imu_msg.linear_acceleration.z = imu_data.linear_acceleration.z();
// imu_msg.orientation_covariance = ;
// imu_msg.angular_velocity_covariance = ;
// imu_msg.linear_acceleration_covariance = ;
return imu_msg;
}
void AirsimROSWrapper::publish_odom_tf(const nav_msgs::Odometry& odom_msg)
{
geometry_msgs::TransformStamped odom_tf;
odom_tf.header = odom_msg.header;
odom_tf.child_frame_id = odom_msg.child_frame_id;
odom_tf.transform.translation.x = odom_msg.pose.pose.position.x;
odom_tf.transform.translation.y = odom_msg.pose.pose.position.y;
odom_tf.transform.translation.z = odom_msg.pose.pose.position.z;
odom_tf.transform.rotation.x = odom_msg.pose.pose.orientation.x;
odom_tf.transform.rotation.y = odom_msg.pose.pose.orientation.y;
odom_tf.transform.rotation.z = odom_msg.pose.pose.orientation.z;
odom_tf.transform.rotation.w = odom_msg.pose.pose.orientation.w;
tf_broadcaster_.sendTransform(odom_tf);
}
void AirsimROSWrapper::publish_world_to_vehicle_tf(const nav_msgs::Odometry& odom_msg)
{
geometry_msgs::TransformStamped odom_tf;
odom_tf.header.stamp = odom_msg.header.stamp;
odom_tf.header.frame_id = world_frame_id_;
odom_tf.child_frame_id = odom_msg.header.frame_id;
odom_tf.transform.translation.x = odom_msg.pose.pose.position.x;
odom_tf.transform.translation.y = odom_msg.pose.pose.position.y;
odom_tf.transform.translation.z = odom_msg.pose.pose.position.z;
odom_tf.transform.rotation.x = odom_msg.pose.pose.orientation.x;
odom_tf.transform.rotation.y = odom_msg.pose.pose.orientation.y;
odom_tf.transform.rotation.z = odom_msg.pose.pose.orientation.z;
odom_tf.transform.rotation.w = odom_msg.pose.pose.orientation.w;
tf_broadcaster_.sendTransform(odom_tf);
}
geometry_msgs::PoseStamped AirsimROSWrapper::build_camera_pose(ros::Time time, const nav_msgs::Odometry& odom_msg, const std::string& frame_id) const
{
// Camera pose is given from AirSim in NED
geometry_msgs::TransformStamped cam_tf_body_msg;
cam_tf_body_msg.header.stamp = time;
cam_tf_body_msg.header.frame_id = frame_id;
cam_tf_body_msg.child_frame_id = "camera_link";
cam_tf_body_msg.transform.translation.x = odom_msg.pose.pose.position.x + 0.35;
cam_tf_body_msg.transform.translation.y = odom_msg.pose.pose.position.y;
cam_tf_body_msg.transform.translation.z = odom_msg.pose.pose.position.z - 0.1;
cam_tf_body_msg.transform.rotation.x = odom_msg.pose.pose.orientation.x;
cam_tf_body_msg.transform.rotation.y = odom_msg.pose.pose.orientation.y;
cam_tf_body_msg.transform.rotation.z = odom_msg.pose.pose.orientation.z;
cam_tf_body_msg.transform.rotation.w = odom_msg.pose.pose.orientation.w;
geometry_msgs::PoseStamped camera_pose;
camera_pose.header.stamp = time;
camera_pose.header.frame_id = "world";
camera_pose.pose.position.x = odom_msg.pose.pose.position.x;
camera_pose.pose.position.y = odom_msg.pose.pose.position.y;
camera_pose.pose.position.z = odom_msg.pose.pose.position.z;
Eigen::Matrix4d zRot = Eigen::Matrix4d::Identity();
Eigen::Matrix4d xRot = Eigen::Matrix4d::Identity();
Eigen::Matrix4d rotated = Eigen::Matrix4d::Zero();
// Inital Extrinsic Matrix
zRot(0, 0) = 0.0;
zRot(0, 1) = 0.0;
zRot(0, 2) = 1.0;
zRot(0, 3) = 0.0;
zRot(1, 0) = -1.0;
zRot(1, 1) = 0.0;
zRot(1, 2) = 0.0;