Merged mg odometry with magrob

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;
+}