Merged mg odometry with magrob

mg_odometry/CMakeLists.txt

@@ -0,0 +1,59 @@
+cmake_minimum_required(VERSION 3.8)
+project(mg_odometry)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+include(FindPkgConfig)
+pkg_search_module(LIBSERIAL REQUIRED libserial)
+
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+
+add_executable(mg_odom_publisher src/mg_odom_publisher.cpp)
+
+ament_target_dependencies(
+  mg_odom_publisher
+  tf2
+  tf2_ros
+  tf2_geometry_msgs
+  rclcpp
+)
+
+target_include_directories(mg_odom_publisher PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+  ${LIBSERIAL_INCLUDE_DIRS})
+
+target_link_libraries(
+  mg_odom_publisher
+  ${LIBSERIAL_LIBRARIES}
+)
+
+target_compile_features(mg_odom_publisher PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+install(TARGETS mg_odom_publisher
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

mg_odometry/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>mg_odometry</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="82343504+Pimpest@users.noreply.github.com">Pimpest</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>libserial-dev</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

mg_odometry/src/mg_odom_publisher.cpp

@@ -0,0 +1,86 @@
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+#include <libserial/SerialStream.h>
+
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "tf2_ros/static_transform_broadcaster.h"
+
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include "tf2/LinearMath/Transform.hpp"
+#include "tf2/LinearMath/Quaternion.hpp"
+#include "tf2/convert.hpp"
+
+#include "rclcpp/rclcpp.hpp"
+
+#define TIMEOUT 10u
+
+constexpr const char* ENCODER_SERIAL_PATH_DEFAULT = "/dev/ttyACM1";
+
+class MgOdomPublisher : public rclcpp::Node {
+  public:
+    MgOdomPublisher() : Node("mg_odom_publisher") {
+        this->declare_parameter("odom", "odom");
+        this->declare_parameter("target", "base-link");
+        this->declare_parameter("serial_path", ENCODER_SERIAL_PATH_DEFAULT);
+
+        tf_static_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);
+
+        timer_ = this->create_wall_timer(std::chrono::milliseconds(TIMEOUT),
+                                         std::bind(&MgOdomPublisher::timer_callback, this));
+    }
+
+  private:
+    std::shared_ptr<tf2_ros::StaticTransformBroadcaster> tf_static_broadcaster_;
+    rclcpp::TimerBase::SharedPtr                         timer_;
+    LibSerial::SerialStream                              enc_serial_port_;
+
+    void timer_callback() {
+        double _x     = NAN;
+        double _y     = NAN;
+        double _theta = NAN;
+
+        RCLCPP_DEBUG(this->get_logger(), "Callback called");
+
+        try {
+            if (!enc_serial_port_.IsOpen()) {
+                enc_serial_port_.Open(this->get_parameter("serial_path").as_string());
+            }
+
+            enc_serial_port_ << "g;";
+
+            if (!(enc_serial_port_ >> _x >> _y >> _theta)) {
+                RCLCPP_INFO(this->get_logger(), "Reading Serial Port failed. Closing...");
+                throw "Unfortunately bug with libserial";
+            }
+
+            RCLCPP_DEBUG(this->get_logger(), "Got following from rpi:{ x: %lf, y: %lf, z: %lf}\n", _x, _y, _theta);
+
+            make_transform(_x, _y, _theta);
+        } catch (const std::exception& e) { RCLCPP_ERROR(this->get_logger(), "%s\n", e.what()); }
+    }
+
+    void make_transform(double x, double y, double theta) {
+        geometry_msgs::msg::TransformStamped t;
+
+        t.header.stamp    = this->get_clock()->now();
+        t.header.frame_id = this->get_parameter("odom").as_string();
+        t.child_frame_id  = this->get_parameter("target").as_string();
+
+        tf2::Quaternion q;
+        q.setRPY(0, 0, theta);
+        const tf2::Transform tf(tf2::Transform(q, tf2::Vector3(x, y, 0)));
+        tf2::convert(tf, t.transform);
+
+        tf_static_broadcaster_->sendTransform(t);
+    }
+};
+
+int main(const int argc, const char** argv) {
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<MgOdomPublisher>());
+    rclcpp::shutdown();
+
+    return 0;
+}