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#include <sensor_msgs/Imu.h>
#include "geometry_msgs/Vector3Stamped.h"
#include "geometry_msgs/QuaternionStamped.h"
// #include "tf/transform_datatypes.h"
#include "geometry_msgs/Pose.h"
#include <sensor_msgs/JointState.h>
#include <tf/transform_listener.h>
#include <nav_msgs/Odometry.h>
#include "geometry_msgs/Pose.h"
#include "geometry_msgs/Quaternion.h"
#include "tf/transform_datatypes.h"
#include <stdio.h>
#include <std_msgs/Float64.h>
#include <tf/transform_broadcaster.h>
using namespace std;

#include <iostream>
#include <fstream>

nav_msgs::Odometry odometry_;
sensor_msgs::Imu inercial_;
ros::Time t_i;
ros::Time t_i_1;
ros::Publisher odom_pub;
ros::Publisher imu_pub;

tf::TransformBroadcaster *p_odom_broadcaster;
void ImuCallback(const sensor_msgs::Imu::ConstPtr &msg )
{
      // ROS_INFO("imu message received");
   //    inercial_=*msg;
       inercial_.header.stamp=msg->header.stamp;//mudar!!


       tf::StampedTransform transform;

       //Transformation necessary to the robot_pose_ekf node
       transform.stamp_=msg->header.stamp;
       transform.frame_id_="base_footprint";
       transform.child_frame_id_ = "/imu_frame";        
       tf::Vector3 transl(0,0,0);
       transl[0]=0; 
       transl[1]=0; 
       transl[2]=0;
       transform.setOrigin(transl);

       tf::Quaternion odom_quat_ = tf::createQuaternionFromRPY(0,0,0);
       transform.setRotation(odom_quat_);
       //Publicar nova tf
       p_odom_broadcaster->sendTransform(transform);


       inercial_.header.frame_id = "/imu_frame";
              
       tf::Quaternion orientation;
       tf::quaternionMsgToTF(msg->orientation, orientation);
       double roll,pitch,yaw;
       tf::Matrix3x3(orientation).getRPY(roll, pitch, yaw);
       //geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromRollPitchYaw(yaw,-pitch,-roll);
       geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromRollPitchYaw(roll,pitch,yaw);
      
       inercial_.orientation=odom_quat;
       inercial_.orientation_covariance[0]= 0.000001;
       inercial_.orientation_covariance[4]= 0.000001;
       inercial_.orientation_covariance[8]= 0.000001;
       inercial_.angular_velocity_covariance[0]= 0.000304617;
       inercial_.angular_velocity_covariance[4]= 0.000304617;
       inercial_.angular_velocity_covariance[8]= 0.000304617;
       inercial_.linear_acceleration_covariance[0]= 0.0000004;
       inercial_.linear_acceleration_covariance[4]= 0.0000004;
       inercial_.linear_acceleration_covariance[8]= 0.0000004;
       imu_pub.publish(inercial_);

}

void OdometryCallback (const nav_msgs::Odometry::ConstPtr &msg )
{
      // ROS_INFO("odometry message received");
       odometry_=*msg;
       odometry_.header.stamp=msg->header.stamp;
       odometry_.header.frame_id="/world";
       odometry_.child_frame_id="base_footprint";
       
      odometry_.pose.covariance[0]=msg->pose.covariance[0];
      odometry_.pose.covariance[7]=msg->pose.covariance[7];
      odometry_.pose.covariance[14]=99999999999;
      odometry_.pose.covariance[21]=99999999999;
      odometry_.pose.covariance[28]=99999999999;
      odometry_.pose.covariance[35]=msg->pose.covariance[35];
       
      
      odometry_.twist.covariance[0]=999999;
      odometry_.twist.covariance[7]=999999;
      odometry_.twist.covariance[14]=999999;
      odometry_.twist.covariance[21]=999999;
      odometry_.twist.covariance[28]=999999;
      odometry_.twist.covariance[35]=999999;
       
      odom_pub.publish(odometry_);
              

}



//this node just completes the information necessary to robot_pose_ekf
int main(int argc, char** argv)
{


       ros::init(argc, argv, "imu_egomotion");
       ROS_INFO("Starting message edition node");
       ros::NodeHandle n;

        tf::TransformBroadcaster odom_broadcaster;
        p_odom_broadcaster=&odom_broadcaster;
       
        odom_pub = n.advertise<nav_msgs::Odometry>("odom", 50);
        imu_pub = n.advertise<sensor_msgs::Imu>("/imu_data", 50);

       ros::Subscriber imu= n.subscribe("/atc/imu/data",1, ImuCallback);
       ros::Subscriber odom= n.subscribe("/vhc/odometry",1, OdometryCallback);

        
        ros::Rate loop_rate(1000);
        ros::spin();

       return 0;
}

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atlascar_egomotion
Author(s): Pedro Salvado
autogenerated on Wed Jul 23 04:33:28 2014