imu_data_confidence.cpp

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#include <sensor_msgs/Imu.h>
// #include "tf/transform_datatypes.h"
#include <tf/transform_listener.h>
#include <nav_msgs/Odometry.h>
#include <stdio.h>
// #include <atlascar_base/AtlascarStatus.h>
#include <std_msgs/Float64.h>
// #include <atlascar_base/AtlascarVelocityStatus.h>
using namespace std;
using namespace ros;


//
std_msgs::Float64 acc_norm_imu,tan_msg,cent_msg;
//
ros::Publisher* p_pitch_pub;
nav_msgs::Odometry odometry_;
sensor_msgs::Imu imu_data;
// atlascar_base::AtlascarStatus base_status;
// atlascar_base::AtlascarVelocityStatus base_velocity;
ros::Time t_i, t_i_1;
double vl_i,vl_i_1;
bool bool_init=true;
double v_ant;
void ImuCallback(const sensor_msgs::Imu::ConstPtr &msg )
{
        imu_data=*msg;
}

// void VelocityMessageHandler(const atlascar_base::AtlascarVelocityStatus& msg)
// {
//      base_velocity=msg;  
//      if(bool_init)
//        {
//               t_i_1=msg.header.stamp;
//               t_i=msg.header.stamp;
//               bool_init=false;
//        }else
//        {
//               t_i_1=t_i;
//               t_i=msg.header.stamp;
//       }
// }
// void StatusMessageHandler(const atlascar_base::AtlascarStatus& msg)
// {
//      base_status=msg;
// }
//this node just completes the information necessary to robot_pose_ekf
int main(int argc, char** argv)
{

       ros::init(argc, argv, "imu_egomotion");
       ros::NodeHandle n;

       Subscriber imu= n.subscribe("/atc/imu/data",1, ImuCallback);
//        Subscriber subscribeStatusMessages = n.subscribe ("/vhc/plc/status", 1, StatusMessageHandler);
//        Subscriber subscribeVelocityStatusMessages = n.subscribe ("/vhc/velocity/status", 1, VelocityMessageHandler);

        Publisher imu_norm=n.advertise<std_msgs::Float64>("/imu_norm",50);
        Publisher accel_tan=n.advertise<std_msgs::Float64>("/accel_tan",50);
        Publisher accel_cent=n.advertise<std_msgs::Float64>("/accel_cent",50);

           ros::Rate r(20.0);

       ROS_INFO("Starting to spin ...");
        double vl,phi;
                double phi_tmp=0;
                
       while(n.ok())
       {
           ROS_ERROR("Message type changed, AtlascarStatus and AtlascarVelocityStatus no longer avaliable!! please correct");
       
              spinOnce();   
              r.sleep();

          
//               vl=base_velocity.velocity;
//               phi=base_status.steering_wheel;
              
              if (phi ==0)
                     phi=phi_tmp;
              else
                     phi_tmp=phi;   
              
              
                //CALIBRATING STEERING WHEEL             
              //phi correction
              phi= phi +0.275;

                if (phi <=0)
                {
                        phi = phi*0.74;
                        phi=phi*-1;
                }
                else if (phi>0)
                {
                        phi= phi*0.825;
                        phi=phi*-1;
                }
        
                //corrrection velocity car like robot
                double w=1.27;
                double l=2.6;
                double instant_radious=fabs(l/tan(phi));
                double v_corrected;
                if(phi>=0)
                         v_corrected=vl*(instant_radious/(instant_radious-w/2));
                else    
                         v_corrected=vl*(instant_radious/(instant_radious+w/2));
                
                cout << "vl_ant" << v_ant << "\n"<< endl;
                cout << "vl" << vl << "\n"<< endl;
                cout << "vl_corre" << v_corrected << "\n"<< endl;
        //inst. radious
        //aceleração centripeta
        double dt = (t_i - t_i_1).toSec();
        double acc_cent=(v_corrected*v_corrected)/instant_radious;
        //cout << "acc_cent" << acc_cent << "\n"<< endl;
//      double acc_tan=(v_corrected-v_ant)/dt;          
        //cout << "acc_tan" << acc_tan << "\n"<< endl;
        v_ant=v_corrected;      
                //tan_msg.data=acc_tan;
                tan_msg.data=dt;
                accel_tan.publish(tan_msg);

                cent_msg.data=acc_cent;
                accel_cent.publish(cent_msg);
        //imu data
        double accel_norm= sqrt((imu_data.linear_acceleration.x * imu_data.linear_acceleration.x) + (imu_data.linear_acceleration.y * imu_data.linear_acceleration.y) + (imu_data.linear_acceleration.z * imu_data.linear_acceleration.z));

                //cout << "accel_norm" << accel_norm-9.81 << endl;
                acc_norm_imu.data=accel_norm;
                imu_norm.publish(acc_norm_imu);


        }
       return 0;
}