acceleration_2d.cpp

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#include <fuse_models/common/sensor_proc.h>
#include <fuse_models/acceleration_2d.h>

#include <fuse_core/transaction.h>
#include <fuse_core/uuid.h>

#include <geometry_msgs/AccelWithCovarianceStamped.h>
#include <pluginlib/class_list_macros.h>
#include <ros/ros.h>


// Register this sensor model with ROS as a plugin.
PLUGINLIB_EXPORT_CLASS(fuse_models::Acceleration2D, fuse_core::SensorModel)

namespace fuse_models
{

Acceleration2D::Acceleration2D() :
  fuse_core::AsyncSensorModel(1),
  device_id_(fuse_core::uuid::NIL),
  tf_listener_(tf_buffer_),
  throttled_callback_(std::bind(&Acceleration2D::process, this, std::placeholders::_1))
{
}

void Acceleration2D::onInit()
{
  // Read settings from the parameter sever
  device_id_ = fuse_variables::loadDeviceId(private_node_handle_);

  params_.loadFromROS(private_node_handle_);

  throttled_callback_.setThrottlePeriod(params_.throttle_period);
  throttled_callback_.setUseWallTime(params_.throttle_use_wall_time);

  if (params_.indices.empty())
  {
    ROS_WARN_STREAM("No dimensions were specified. Data from topic " << ros::names::resolve(params_.topic) <<
                    " will be ignored.");
  }
}

void Acceleration2D::onStart()
{
  if (!params_.indices.empty())
  {
    subscriber_ = node_handle_.subscribe<geometry_msgs::AccelWithCovarianceStamped>(ros::names::resolve(params_.topic),
        params_.queue_size, &AccelerationThrottledCallback::callback, &throttled_callback_);
  }
}

void Acceleration2D::onStop()
{
  subscriber_.shutdown();
}

void Acceleration2D::process(const geometry_msgs::AccelWithCovarianceStamped::ConstPtr& msg)
{
  // Create a transaction object
  auto transaction = fuse_core::Transaction::make_shared();
  transaction->stamp(msg->header.stamp);

  common::processAccelWithCovariance(
    name(),
    device_id_,
    *msg,
    params_.loss,
    params_.target_frame,
    params_.indices,
    tf_buffer_,
    !params_.disable_checks,
    *transaction);

  // Send the transaction object to the plugin's parent
  sendTransaction(transaction);
}

}  // namespace fuse_models