car_attitude2ground.cpp

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#include <atlascar_egomotion/median_filter.h>
optoelectric::sensor_sharp_msg sharp_msg;
vector<double> measures;
bool new_status_message;

void SensorCallback (const optoelectric::sensor_sharp_msg &msg)
{
        //ROS_INFO("sensor_sharp_msg_received");
        sharp_msg=msg;
        new_status_message=true;

}
int main(int argc,char**argv)
{

        ros::init(argc, argv, "sensor_sharp_transformation_node");
        ros::NodeHandle n;
        ros::Subscriber sensor_msg_subs= n.subscribe("/snr/opto/sensor",1, SensorCallback);
        ros::Rate r(60.0);      

        int count_f_l=0;
        int count_f_r=0;
        int count_b_l=0;
        int count_b_r=0;
        float d_front_left_array[8];
        float d_front_right_array[8];
        float d_back_left_array[8];
        float d_back_right_array[8];
        while(n.ok())
        {
                spinOnce();   
                r.sleep();
                if(!new_status_message)
                        continue;

                new_status_message=false;


                float dist_front_left=Median_Filter(count_f_l,sharp_msg.d_front_left,d_front_left_array);
                count_f_l++;

                float dist_front_right=Median_Filter(count_f_r,sharp_msg.d_front_right,d_front_right_array);
                count_f_r++;
        
                float dist_back_left=Median_Filter(count_b_l,sharp_msg.d_back_left,d_back_left_array);
                count_b_l++;
        
                float dist_back_right=Median_Filter(count_b_r,sharp_msg.d_back_right,d_back_right_array);
                count_b_r++;


                float z_mean=(dist_front_left + dist_front_right + dist_back_left + dist_back_right)/4;
                float roll_front=atan2((dist_front_left - dist_front_right),1.27);
                float roll_back=atan2((dist_back_left - dist_back_right),0.67);

                float pitch=atan2((dist_back_left +  dist_back_right)*0.5 - (dist_front_left + dist_front_right)*0.5,1.39*2);
                static tf::TransformBroadcaster br;
                tf::Transform transform;
                transform.setOrigin( tf::Vector3(0.0, 0.0, z_mean) );
                transform.setRotation(tf::createQuaternionFromRPY((roll_front+roll_back)*0.5, pitch, 0) );
                br.sendTransform(tf::StampedTransform(transform, sharp_msg.header.stamp,"/ground", "/atc/vehicle/center_car_axis" ));

        }        

        return 0;
}