tinkerforge imu: switch node to tinkerforge_imu_ros

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3703bb7978f47271e67aec76a14b4ae4e87e7714..5dfe0e2e9c59419108dfc864df3849bd37629ed1 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -109,7 +109,6 @@ include_directories(
 
 ## Declare a cpp executable
 add_executable(path_following src/path_following.cpp)
-add_executable(imu_brick_v2 src/tinkerforge_imu2.cpp)
 
 ## Add cmake target dependencies of the executable/library
 ## as an example, message headers may need to be generated before nodes
@@ -120,10 +119,6 @@ target_link_libraries(path_following
    ${catkin_LIBRARIES}
    ${OpenCV_LIBS}
 )
-target_link_libraries(imu_brick_v2
-   ${catkin_LIBRARIES}
-   tinkerforge
-)
 
 #############
 ## Install ##

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index c0f71b8117b1df668cac5c2e136782c6f8671720..1e1bf66e2f9bd046783695201f89c87eda7c61b8 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -27,8 +27,15 @@
                <param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
        </node>
 
-       <node pkg="wild_thumper" type="imu_brick_v2" name="tinkerforge_imu_brick2" output="screen" respawn="true" if="$(arg use_imu)">
+       <node pkg="tinkerforge_imu_ros" type="tinkerforge_imu_ros" name="tinkerforge_imu_brick2" output="screen" respawn="true" if="$(arg use_imu)">
                <param name="uid" value="6DdNSn"/>
+               <param name="frame_id" value="base_imu_link"/>
+               <param name="period_ms" value="20"/>
+               <!-- Observed orientation variance: 0.0 (10k samples)
+                    Magnometer heading accuracy is +-2.5 deg => 0.088 rad
+                    With heading accuracy as std dev, variance = 0.088^2 = 0.008 -->
+               <param name="variance_orientation" value="0.008"/>
+               <remap from="/tinkerforge_imu_brick2/imu" to="imu"/>
        </node>
 
        <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">

diff --git a/package.xml b/package.xml
index 0c6850753a3f91386e2baa44fcc25cd23540d38f..773517e043f687e342dcef401d4bbd6730b83b70 100644 (file)
--- a/package.xml
+++ b/package.xml
@@ -56,6 +56,7 @@
   <run_depend>rosruby</run_depend>
   <run_depend>amcl</run_depend>
   <run_depend>gmapping</run_depend>
+  <run_depend>tinkerforge_imu_ros</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

diff --git a/src/tinkerforge_imu2.cpp b/src/tinkerforge_imu2.cpp
deleted file mode 100644 (file)
index d07b8e7..0000000
--- a/src/tinkerforge_imu2.cpp
+++ /dev/null
@@ -1,88 +0,0 @@
-#include <stdio.h>
-#include <math.h>
-#include "ros/ros.h"
-#include "sensor_msgs/Imu.h"
-#include "ip_connection.h"
-#include "brick_imu_v2.h"
-
-ros::Publisher pub_imu;
-
-void cb_all_data(int16_t acceleration[3], int16_t magnetic_field[3], int16_t angular_velocity[3], int16_t euler_angle[3], int16_t quaternion[4], int16_t linear_acceleration[3], int16_t gravity_vector[3], int8_t temperature, uint8_t calibration_status, void *user_data) {
-       sensor_msgs::Imu msg;
-       msg.header.stamp = ros::Time::now();
-       msg.header.frame_id = "base_imu_link";
-
-       msg.orientation.x = quaternion[1]/16383.0;
-       msg.orientation.y = quaternion[2]/16383.0;
-       msg.orientation.z = quaternion[3]/16383.0;
-       msg.orientation.w = quaternion[0]/16383.0;
-       // Observed orientation variance: 0.0 (10k samples)
-       // Magnometer heading accuracy is +-2.5 deg => 0.088 rad
-       // With heading accuracy as std dev, variance = 0.088^2 = 0.008 
-       msg.orientation_covariance = {
-               0.008, 0     , 0,
-               0    , 0.008, 0,
-               0    , 0    , 0.008
-       };
-
-       msg.angular_velocity.x = angular_velocity[0]/16.0*M_PI/180;
-       msg.angular_velocity.y = angular_velocity[1]/16.0*M_PI/180;
-       msg.angular_velocity.z = angular_velocity[2]/16.0*M_PI/180;
-       // Observed angular velocity variance: 0.006223 (10k samples), => round up to 0.02
-       msg.angular_velocity_covariance = {
-               0.02, 0   , 0,
-               0   , 0.02, 0,
-               0   , 0   , 0.02
-       };
-
-       msg.linear_acceleration.x = acceleration[0]/100.0;
-       msg.linear_acceleration.y = acceleration[1]/100.0;
-       msg.linear_acceleration.z = acceleration[2]/100.0;
-       // Observed linear acceleration variance: 0.001532 (10k samples)
-       // Calculation for variance taken from razor imu:
-       // nonliniarity spec: 1% of full scale (+-2G) => 0.2m/s^2
-       // Choosing 0.2 as std dev, variance = 0.2^2 = 0.04
-       msg.linear_acceleration_covariance = {
-               0.04, 0    , 0,
-               0    , 0.04, 0,
-               0    , 0    , 0.04
-       };
-
-       pub_imu.publish(msg);
-}
-
-int main(int argc, char **argv) {
-       std::string host, uid;
-       int port;
-       IPConnection ipcon;
-       IMUV2 imu;
-
-       ros::init(argc, argv, "imu_brick_v2");
-       ros::NodeHandle nh;
-       ros::NodeHandle pnh("~");
-
-       pub_imu = nh.advertise<sensor_msgs::Imu>("imu", 10);
-
-       pnh.param("host", host, std::string("localhost"));
-       pnh.param("port", port, 4223);
-       pnh.getParam("uid", uid);
-
-       // Create IP connection
-       ipcon_create(&ipcon);
-       // Create device object
-       imu_v2_create(&imu, uid.c_str(), &ipcon);
-       // Connect to brickd
-       if(ipcon_connect(&ipcon, host.c_str(), port) < 0) {
-               fprintf(stderr, "Could not connect\n");
-               return 1;
-       }
-       imu_v2_leds_off(&imu);
-       imu_v2_disable_status_led(&imu);
-       imu_v2_register_callback(&imu, IMU_V2_CALLBACK_ALL_DATA, (void (*)(void))cb_all_data, NULL);
-       imu_v2_set_all_data_period(&imu, 20); // ms
-
-       ros::spin();
-
-       imu_v2_destroy(&imu);
-       ipcon_destroy(&ipcon); // Calls ipcon_disconnect internally
-}