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make tf frames ros params #2

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c77fefb
Add instructions for QFlight Pro
mikeshomin Jan 9, 2019
d5613bf
Merge remote-tracking branch 'origin/mv_1.1.9'
james-modalai Aug 14, 2019
29baa00
make tf frames ros params
plusk01 Aug 8, 2019
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3 changes: 3 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,9 @@ snap_vio wraps mvVISLAM from the machine vision library, providing a ROS interfa
- [snap_cpa](https://github.com/ATLFlight/snap_cpa)
- [snap_imu](https://github.com/ATLFlight/snap_imu)

## Building
For snapdragon/qualcomm flight, use standard catkin_make. For QFlight Pro, use the instructions here: [QFlight Pro Buildi Instructions](https://github.com/ATLFlight/QFlightProDocs/blob/master/RosSoftware.md).

## Run It!
snap_vio needs a few things to work:
- image msgs from a camera (sensor_msgs/Image via image_transport to "image_raw")
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3 changes: 3 additions & 0 deletions include/snap_vio/snap_vio.hpp
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Expand Up @@ -171,6 +171,9 @@ class SnapVio

std::string camera_frame_;
std::string imu_frame_;
std::string odom_frame_;
std::string grav_frame_;
std::string imu_start_frame_;

tf2_ros::Buffer tfBuffer;
tf2_ros::TransformListener * tfListener;
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36 changes: 20 additions & 16 deletions src/snap_vio.cpp
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Expand Up @@ -93,6 +93,10 @@ SnapVio::SnapVio(ros::NodeHandle nh, ros::NodeHandle pnh)
latest_time_alignment_ = ros::Duration(vislam_params_.delta);
ROS_INFO_STREAM("Initial Time alignment: " << latest_time_alignment_ );

pnh_.param<std::string>("odom_frame_id", odom_frame_, "odom");
pnh_.param<std::string>("grav_frame_id", grav_frame_, "grav");
pnh_.param<std::string>("imu_start_frame_id", imu_start_frame_, "imu_start");

tfListener = new tf2_ros::TransformListener(tfBuffer);

vio_pose_publisher_ = nh_.advertise<geometry_msgs::PoseStamped>("vio/pose",1);
Expand Down Expand Up @@ -361,13 +365,13 @@ void SnapVio::PublishMapPoints(std::vector<mvVISLAMMapPoint>& vio_points,

snap_msgs::MapPointArray points_msg;
points_msg.map_points.reserve(vio_points.size());
points_msg.header.frame_id = "imu_start";
points_msg.header.frame_id = imu_start_frame_;
points_msg.header.stamp = image_timestamp;
points_msg.header.seq = vio_frame_id;

sensor_msgs::PointCloud cloud_msg;
cloud_msg.points.reserve(vio_points.size());
cloud_msg.header.frame_id = "imu_start";
cloud_msg.header.frame_id = imu_start_frame_;
cloud_msg.header.stamp = image_timestamp;
cloud_msg.header.seq = vio_frame_id;

Expand Down Expand Up @@ -423,8 +427,8 @@ void SnapVio::PublishVioData(mvVISLAMPose& vio_pose, int64_t vio_frame_id,
odom_to_grav.transform.translation.z = 0;
tf2::Quaternion q_imu( tf2::Vector3(0.0, 1.0, 0.0), 3.14159);
tf2::convert(q_imu, odom_to_grav.transform.rotation);
odom_to_grav.child_frame_id = "grav";
odom_to_grav.header.frame_id = "odom";
odom_to_grav.child_frame_id = grav_frame_;
odom_to_grav.header.frame_id = odom_frame_;
odom_to_grav.header.stamp = vio_timestamp;
transforms.push_back(odom_to_grav);
}
Expand All @@ -438,20 +442,20 @@ void SnapVio::PublishVioData(mvVISLAMPose& vio_pose, int64_t vio_frame_id,
if(snav_mode_)
{
tf2::convert(q_grav.inverse(),grav_to_imu_start.transform.rotation);
grav_to_imu_start.child_frame_id = "grav";
grav_to_imu_start.header.frame_id = "imu_start";
grav_to_imu_start.child_frame_id = grav_frame_;
grav_to_imu_start.header.frame_id = imu_start_frame_;
}
else
{
tf2::convert(q_grav,grav_to_imu_start.transform.rotation);
grav_to_imu_start.child_frame_id = "imu_start";
grav_to_imu_start.header.frame_id = "grav";
grav_to_imu_start.child_frame_id = imu_start_frame_;
grav_to_imu_start.header.frame_id = grav_frame_;
}
grav_to_imu_start.header.stamp = vio_timestamp;
transforms.push_back(grav_to_imu_start);

geometry_msgs::PoseStamped pose_msg;
pose_msg.header.frame_id = "imu_start";
pose_msg.header.frame_id = imu_start_frame_;
pose_msg.header.stamp = vio_timestamp;
pose_msg.header.seq = vio_frame_id;
// translate VIO pose to ROS pose
Expand Down Expand Up @@ -484,8 +488,8 @@ void SnapVio::PublishVioData(mvVISLAMPose& vio_pose, int64_t vio_frame_id,
imu_start_to_imu.transform.rotation.y = pose_msg.pose.orientation.y;
imu_start_to_imu.transform.rotation.z = pose_msg.pose.orientation.z;
imu_start_to_imu.transform.rotation.w = pose_msg.pose.orientation.w;
imu_start_to_imu.child_frame_id = "imu";
imu_start_to_imu.header.frame_id = "imu_start";
imu_start_to_imu.child_frame_id = imu_frame_;
imu_start_to_imu.header.frame_id = imu_start_frame_;
imu_start_to_imu.header.stamp = vio_timestamp;

if(snav_mode_)
Expand All @@ -495,8 +499,8 @@ void SnapVio::PublishVioData(mvVISLAMPose& vio_pose, int64_t vio_frame_id,
vio_tf_inv = vio_tf.inverse();
geometry_msgs::TransformStamped imu_to_imu_start;
tf2::convert(vio_tf_inv, imu_to_imu_start.transform);
imu_to_imu_start.child_frame_id = "imu_start";
imu_to_imu_start.header.frame_id = "imu";
imu_to_imu_start.child_frame_id = imu_start_frame_;
imu_to_imu_start.header.frame_id = imu_frame_;
imu_to_imu_start.header.stamp = vio_timestamp;
transforms.push_back(imu_to_imu_start);
}
Expand All @@ -520,8 +524,8 @@ void SnapVio::PublishVioData(mvVISLAMPose& vio_pose, int64_t vio_frame_id,

nav_msgs::Odometry odom_msg;
odom_msg.header.stamp = vio_timestamp;
odom_msg.header.frame_id = "imu_start";
odom_msg.child_frame_id = "imu";
odom_msg.header.frame_id = imu_start_frame_;
odom_msg.child_frame_id = imu_frame_;
odom_msg.pose.pose = pose_msg.pose;
odom_msg.twist.twist.linear.x = vio_pose.velocity[0];
odom_msg.twist.twist.linear.y = vio_pose.velocity[1];
Expand All @@ -547,7 +551,7 @@ void SnapVio::PublishVioData(mvVISLAMPose& vio_pose, int64_t vio_frame_id,

// Internal States
snap_msgs::InternalStates states_msg;
states_msg.header.frame_id = "imu_start";
states_msg.header.frame_id = imu_start_frame_;
states_msg.header.stamp = vio_timestamp;
states_msg.header.seq = vio_frame_id;
states_msg.snav_mode = snav_mode_;
Expand Down