ground_attitude2world.cpp

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#include<tf/transform_listener.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/Imu.h>
#include "geometry_msgs/Pose.h"
#include "geometry_msgs/Quaternion.h"
#include "tf/transform_datatypes.h"
#include <stdio.h>
#include <tf/transform_broadcaster.h>
ros::Publisher odom_pub;
nav_msgs::Odometry odometry_;
using namespace std;

#define PFLN {printf("%s %d\n",__FILE__, __LINE__);}
tf::TransformBroadcaster *p_odom_broadcaster;
sensor_msgs::Imu imu_data;
//tf::TransformBroadcaster *p_tf_broadcaster;
tf::TransformListener *p_listener;

//FILE * pFile;

//this 
void ImuCallback(const sensor_msgs::Imu::ConstPtr &msg )
{
        imu_data=*msg;
}
int main(int argc, char** argv)
{ 
//      pFile=fopen("../alboi_final_pos.txt","w+");
        ros::init(argc, argv, "robot_pose2odometry");
        ros::NodeHandle n;
        odom_pub = n.advertise<nav_msgs::Odometry>("/robot_pose_odometry", 50);
        ros::Subscriber imu= n.subscribe("/atc/imu/data",1, ImuCallback);
        tf::TransformListener listener;
        //p_listener=&listener;
        tf::TransformBroadcaster odom_broadcaster;
        ros::Rate r(40.0);
    while(n.ok())
       {   
              ros::spinOnce();   
              r.sleep();        
              //intersect transformation by robot_pose_ekf
              bool have_transform=false;
              tf::StampedTransform transform_robot_pose_ekf;
              try
              {
                     listener.lookupTransform("/world","/base_footprint" , ros::Time(0), transform_robot_pose_ekf);
                     have_transform=true;
              }
              catch (tf::TransformException ex)
              {
                     if(listener.waitForTransform("/world","/base_footprint",ros::Time(0), ros::Duration(3.0)))
                     {
                            try
                            {
                                   listener.lookupTransform("/world","/base_footprint" , ros::Time(0), transform_robot_pose_ekf);
                                   have_transform=true;
                            }
                            catch (tf::TransformException ex)
                            {
                                   ROS_ERROR("Could not lookup transform after waiting 3 secs\n.%s",ex.what());
                            }
                     }
                     else
                     {
                            ROS_ERROR("Could find valid transform after waiting 3 secs\n.%s",ex.what());
                     }
              }

              if (have_transform==false)
              {
              //return;
                     continue;
              }
/*
              //intersect transformation from center_car_axes to /road_plane
              bool have_transform_2=false;
              tf::StampedTransform transform2ground;
              try
              {
                     listener.lookupTransform("/ground","/atc/vehicle/center_car_axes" , ros::Time(0), transform2ground);
                     have_transform_2=true;
              }
              catch (tf::TransformException ex)
              {
                     if(listener.waitForTransform("/ground","/atc/vehicle/center_car_axes",ros::Time(0), ros::Duration(3.0)))
                     {
                            try
                            {
                                   listener.lookupTransform("/ground","/atc/vehicle/center_car_axes" , ros::Time(0), transform2ground);
                                   have_transform_2=true;
                            }
                            catch (tf::TransformException ex)
                            {
                                   ROS_ERROR("Could not lookup transform after waiting 3 secs\n.%s",ex.what());
                            }
                     }
                     else
                     {
                            ROS_ERROR("Could find valid transform after waiting 3 secs\n.%s",ex.what());
                     }
              }

              if (have_transform_2==false)
              {
              //return;
                     continue;
              }

              //get roll pitch yaw from transform2ground
              double roll_2,pitch_2,yaw_2;
              btQuaternion q_2 = transform2ground.getRotation();
              btMatrix3x3(q_2).getRPY(roll_2, pitch_2, yaw_2);
*/

              //get roll pitch yaw from transform_robot_pose_ekf
              double roll_1,pitch_1,yaw_1;
              tf::Quaternion q1 = transform_robot_pose_ekf.getRotation();
              tf::Matrix3x3(q1).getRPY(roll_1, pitch_1, yaw_1);
              static tf::TransformBroadcaster br;
              tf::Transform transform;
              transform.setOrigin( tf::Vector3((transform_robot_pose_ekf.getOrigin()).x(), (transform_robot_pose_ekf.getOrigin()).y(), 0) );
              transform.setRotation(tf::createQuaternionFromRPY(0.0,0.0, yaw_1) );
              //transform.setRotation(tf::createQuaternionFromRPY(0.0,0.0, yaw_1) );
              br.sendTransform(tf::StampedTransform(transform, transform_robot_pose_ekf.stamp_,"/world", "/ground" ));
        
              //        fprintf(pFile,"%0.5f %0.5f\n", (transform_robot_pose_ekf.getOrigin()).x(), (transform_robot_pose_ekf.getOrigin()).y());
       }
//      fclose(pFile);
        return 0;
}