Fix/gnss tf lib (#64)

* Changed LLH output frame ID to FP_POI instead of FP_ECEF.
* Patched wrong import in ROS2 odometry converter.
* Removed GNSS TF lib dependency.
* Updated README.
* Improved Doxygen.

---------

Co-authored-by: Facundo Garcia <[email protected]>

.github/workflows/build_test_ros.yml

@@ -29,11 +29,6 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/fixposition_driver
-      - name: Checkout Deps
-        uses: actions/checkout@v4
-        with:
-          repository: fixposition/fixposition_gnss_tf
-          path: src/fixposition_gnss_tf
       - name: Ignore ROS2 node
         run: |
           touch src/fixposition_driver/fixposition_driver_ros2/CATKIN_IGNORE

.github/workflows/build_test_ros2.yml

@@ -32,11 +32,6 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/fixposition_driver
-      - name: Checkout Deps
-        uses: actions/checkout@v4
-        with:
-          repository: fixposition/fixposition_gnss_tf
-          path: src/fixposition_gnss_tf
       - name: Ignore ROS1 node
         run: |
           touch src/fixposition_driver/fixposition_driver_ros1/COLCON_IGNORE
@@ -46,4 +41,3 @@ jobs:
           source /opt/ros/$ROS_DISTRO/setup.bash
           colcon build --packages-up-to fixposition_driver_ros2 --cmake-args -DBUILD_TESTING=ON
           colcon test --packages-up-to fixposition_driver_ros2
-          colcon test-result --test-result-base build/fixposition_gnss_tf/

.gitignore

@@ -1,2 +1,4 @@
+build/*
 doc_gen/*
+*/doc_gen/*
 *.vscode*

fixposition_driver_lib/CMakeLists.txt

@@ -12,10 +12,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 find_package(Boost 1.65.0 REQUIRED)
 find_package(Eigen3 REQUIRED)
 
-find_package(fixposition_gnss_tf REQUIRED)
-
 include_directories(include
-  ${fixposition_gnss_tf_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIR}
   ${Boost_INCLUDE_DIR}
 )
@@ -46,9 +43,10 @@ add_library(
   src/fixposition_driver.cpp
   src/helper.cpp
   src/parser.cpp
+  src/gnss_tf.cpp
 )
 
-target_link_libraries(${PROJECT_NAME} ${fixposition_gnss_tf_LIBRARIES} ${Boost_LIBRARIES} pthread)
+target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES} pthread)
 
 # INSTALL ==============================================================================================================
 list(APPEND PACKAGE_LIBRARIES ${PROJECT_NAME})

fixposition_driver_lib/Doxyfile

@@ -1471,7 +1471,7 @@ FORMULA_TRANSPARENT    = YES
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-USE_MATHJAX            = NO
+USE_MATHJAX            = YES
 
 # When MathJax is enabled you can set the default output format to be used for
 # the MathJax output. See the MathJax site (see:

fixposition_driver_lib/include/fixposition_driver_lib/gnss_tf.hpp

@@ -0,0 +1,164 @@
+/**
+ *  @file
+ *  @brief Helper functions
+ *
+ * \verbatim
+ *  ___    ___
+ *  \  \  /  /
+ *   \  \/  /   Fixposition AG
+ *   /  /\  \   All right reserved.
+ *  /__/  \__\
+ * \endverbatim
+ *
+ */
+
+#ifndef __FIXPOSITION_DRIVER_LIB_GNSS_TF__
+#define __FIXPOSITION_DRIVER_LIB_GNSS_TF__
+
+/* PACKAGE */
+#include <fixposition_driver_lib/time_conversions.hpp>
+
+namespace fixposition {
+
+/**
+ * @brief Calculate the rotation matrix from ECEF to
+ * ENU for a given reference latitude/longitude.
+ *
+ * @param[in] lat Reference latitude [rad]
+ * @param[in] lon Reference longitude [rad]
+ * @return Eigen::Matrix3d Rotation matrix from ECEF -> ENU
+ */
+Eigen::Matrix3d RotEnuEcef(double lat, double lon);
+
+/**
+ * @brief Calculate the rotation matrix from ECEF to
+ * ENU for a given reference origin.
+ *
+ * @param[in] in_pos Reference position in ECEF [m]
+ * @return Eigen::Matrix3d Rotation matrix ECEF -> ENU
+ */
+Eigen::Matrix3d RotEnuEcef(const Eigen::Vector3d &ecef);
+
+/**
+ * @brief Returns rotation matrix between NED and ENU
+ * @details | 0, 1, 0 |
+ *          | 1, 0, 0 |
+ *          | 0, 0,-1 |
+ *
+ * @return Eigen::Matrix3d
+ */
+Eigen::Matrix3d RotNedEnu();
+
+/**
+ * @brief Calculate the rotation matrix from ECEF to
+ * NED for a given reference latitude/longitude.
+ *
+ * @param[in] lat Reference latitude [rad]
+ * @param[in] lon Reference longitude [rad]
+ * @return Eigen::Matrix3d Rotation matrix from ECEF -> NED
+ */
+Eigen::Matrix3d RotNedEcef(double lat, double lon);
+
+/**
+ * @brief Calculate the rotation matrix from ECEF to
+ * NED for a given reference origin.
+ *
+ * @param[in] in_pos Reference position in ECEF [m]
+ * @return Eigen::Matrix3d Rotation matrix ECEF -> NED
+ */
+Eigen::Matrix3d RotNedEcef(const Eigen::Vector3d &ecef);
+
+/**
+ * @brief Transform ECEF coordinate to ENU with specified ENU-origin
+ *
+ * @param[in] xyz ECEF position to be transsformed [m]
+ * @param[in] wgs84llh_ref ENU-origin in Geodetic coordinates (Lat[rad], Lon[rad], Height[m])
+ * @return Eigen::Vector3d Position in ENU coordinates
+ */
+Eigen::Vector3d TfEnuEcef(const Eigen::Vector3d &ecef, const Eigen::Vector3d &wgs84llh_ref);
+
+/**
+ * @brief  Transform ENU coordinate to ECEF with specified ENU-origin
+ *
+ * @param[in] enu ENU position to be transsformed [m]
+ * @param[in] wgs84llh_ref ENU-origin in Geodetic coordinates (Lat[rad], Lon[rad], Height[m])
+ * @return Eigen::Vector3d
+ */
+Eigen::Vector3d TfEcefEnu(const Eigen::Vector3d &enu, const Eigen::Vector3d &wgs84llh_ref);
+
+Eigen::Vector3d TfNedEcef(const Eigen::Vector3d &ecef, const Eigen::Vector3d &wgs84llh_ref);
+Eigen::Vector3d TfEcefNed(const Eigen::Vector3d &ned, const Eigen::Vector3d &wgs84llh_ref);
+
+/**
+ * @brief Convert Geodetic coordinates (latitude, longitude, height) to
+ * ECEF (x, y, z).
+ *
+ * @param[in] wgs84llh Geodetic coordinates (Lat[rad], Lon[rad], Height[m])
+ * @return Eigen::Vector3d ECEF coordinates [m]
+ */
+Eigen::Vector3d TfEcefWgs84Llh(const Eigen::Vector3d &wgs84llh);
+
+/**
+ * @brief Convert ECEF (x, y, z) coordinates to Lat Lon Height coordinates
+ * (latitude, longitude, altitude).
+ *
+ * @param[in] ecef ECEF coordinates [m]
+ * @return Eigen::Vector3d Geodetic coordinates (Lat[rad], Lon[rad], Height[m])
+ */
+Eigen::Vector3d TfWgs84LlhEcef(const Eigen::Vector3d &ecef);
+
+/**
+ * @brief Given Pose in ECEF, calculate Yaw-Pitch-Roll in ENU
+ * @details Yaw will be -Pi/2 when X is pointing North, because ENU starts with East
+ *
+ * @param ecef_p 3D Position Vector in ECEF
+ * @param ecef_r 3x3 Rotation matrix representing rotation Body --> ECEF
+ * @return Eigen::Vector3d Yaw-Pitch-Roll in ENU
+ * (Yaw will be -Pi/2 when X is pointing North, because ENU starts with
+
+ */
+Eigen::Vector3d EcefPoseToEnuEul(const Eigen::Vector3d &ecef_p, const Eigen::Matrix3d &ecef_r);
+
+/**
+ * @brief
+ *
+ * @param ecef_p 3D Position Vector in ECEF
+ * @param ecef_r 3x3 Rotation matrix representing rotation Body --> ECEF
+ * @return Eigen::Vector3d Yaw-Pitch-Roll in NED
+ */
+Eigen::Vector3d EcefPoseToNedEul(const Eigen::Vector3d &ecef_p, const Eigen::Matrix3d &ecef_r);
+
+/**
+ * @brief Vector4 quaternion to intrinsic Euler Angles in ZYX (yaw,pitch,roll)
+ *
+ * @param[in] quat Eigen::Quaterniond in w,i,j,k
+ * @return Eigen::Vector3d intrinsic euler angle in ZYX (Yaw/Pitch/Roll) order
+ */
+inline Eigen::Vector3d QuatToEul(const Eigen::Quaterniond &q) {
+    auto qw = q.w();
+    auto qx = q.x();
+    auto qy = q.y();
+    auto qz = q.z();
+    auto eul0 = atan2(2 * (qx * qy + qw * qz), qw * qw + qx * qx - qy * qy - qz * qz);
+    auto eul1 = asin(-2.0 * (qx * qz - qw * qy));
+    auto eul2 = atan2(2 * (qy * qz + qw * qx), qw * qw - qx * qx - qy * qy + qz * qz);
+
+    Eigen::Vector3d eul;
+    eul << eul0, eul1, eul2;
+
+    return eul;
+}
+
+/**
+ * @brief Rotation Matrix to intrinsic Euler Angles in ZYX (Yaw-Pitch-Roll) order in radian
+ *
+ * @param rot Eigen::Matrix3d
+ * @return Eigen::Vector3d intrinsic euler angle in ZYX (Yaw-Pitch-Roll) order in radian
+ */
+inline Eigen::Vector3d RotToEul(const Eigen::Matrix3d &rot) {
+    const Eigen::Quaterniond quat(rot);
+    return QuatToEul(quat);
+}
+
+}  // namespace fixposition
+#endif  // __FIXPOSITION_DRIVER_LIB_GNSS_TF__

fixposition_driver_lib/package.xml

@@ -20,7 +20,6 @@
     <depend>geometry_msgs</depend>
     <depend condition="$ROS_VERSION == 1">message_generation</depend>
     <depend condition="$ROS_VERSION == 1">message_runtime</depend>
-    <depend>fixposition_gnss_tf</depend>
     <export>
         <build_type>cmake</build_type>
     </export>