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added magnetic field topic to imu_nws_ros2 #58

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added magnetic field topic to imu_nws_ros2 #58

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fa5ba7a
added magnetic field feature
randaz81 Aug 22, 2023
159bdea
Added error messages
randaz81 Aug 30, 2023
64df2cb
Update Imu_nws_ros2.cpp
randaz81 Aug 30, 2023
5c86ca2
Added error messages
randaz81 Aug 30, 2023
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19 changes: 13 additions & 6 deletions src/devices/multipleAnalogSensors_nws_ros2/GenericSensor_nws_ros2.h
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Original file line number Diff line number Diff line change
Expand Up @@ -49,9 +49,9 @@ class GenericSensor_nws_ros2 :
double m_periodInS{0.01};
std::string m_publisherName;
std::string m_rosNodeName;
rclcpp::Node::SharedPtr m_node;
typename rclcpp::Publisher<ROS_MSG>::SharedPtr m_publisher;
yarp::dev::PolyDriver* m_poly;
rclcpp::Node::SharedPtr m_node=nullptr;
typename rclcpp::Publisher<ROS_MSG>::SharedPtr m_publisher=nullptr;
yarp::dev::PolyDriver* m_poly=nullptr;
double m_timestamp;
std::string m_framename;
const size_t m_sens_index = 0;
Expand Down Expand Up @@ -81,9 +81,6 @@ template <class ROS_MSG>
GenericSensor_nws_ros2<ROS_MSG>::GenericSensor_nws_ros2() :
PeriodicThread(0.02)
{
m_node = nullptr;
m_publisher=nullptr;
m_poly = nullptr;
m_timestamp=0;
}

Expand Down Expand Up @@ -188,10 +185,20 @@ bool GenericSensor_nws_ros2<ROS_MSG>::attachAll(const yarp::dev::PolyDriverList

// View all the interfaces
bool ok = viewInterfaces();
if (!ok)
{
yCError(GENERICSENSOR_NWS_ROS2, "viewInterfaces failed.");
return false;
}

// Set rate period
ok &= this->setPeriod(m_periodInS);
ok &= this->start();
if (!ok)
{
yCError(GENERICSENSOR_NWS_ROS2, "thread->start() failed.");
return false;
}

return ok;
}
Expand Down
52 changes: 41 additions & 11 deletions src/devices/multipleAnalogSensors_nws_ros2/Imu_nws_ros2.cpp
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Expand Up @@ -19,7 +19,7 @@ YARP_LOG_COMPONENT(GENERICSENSOR_NWS_ROS2, "yarp.device.Imu_nws_ros2")

bool Imu_nws_ros2::viewInterfaces()
{
// View all the interfaces
// View mandatory interfaces
bool ok = true;
ok = m_poly->view(m_iThreeAxisGyroscopes);
if (!ok) {
Expand All @@ -31,19 +31,33 @@ bool Imu_nws_ros2::viewInterfaces()
yCError(GENERICSENSOR_NWS_ROS2) << "IThreeAxisLinearAccelerometers interface is not available";
return false;
}
ok = m_poly->view(m_iThreeAxisMagnetometers);
if (!ok) {
yCError(GENERICSENSOR_NWS_ROS2) << "IThreeAxisMagnetometers interface is not available";
return false;
}
ok = m_poly->view(m_iOrientationSensors);
if (!ok) {
yCError(GENERICSENSOR_NWS_ROS2) << "IOrientationSensors interface is not available";
return false;
}

// View optional interfaces
bool mag_ok = m_poly->view(m_iThreeAxisMagnetometers);
if (mag_ok)
{
std::string m_publisherMagName = m_publisherName + "_magnetic_field";
yCInfo(GENERICSENSOR_NWS_ROS2) << "m_iThreeAxisMagnetometers interface available. Opening topic:" << m_publisherMagName;
m_publisher_mag = m_node->create_publisher<sensor_msgs::msg::MagneticField>(m_publisherMagName,rclcpp::QoS(10));
}
else
{
yCWarning(GENERICSENSOR_NWS_ROS2) << "m_iThreeAxisMagnetometers interface is not available";
}

// Get frame Name
ok = m_iThreeAxisGyroscopes->getThreeAxisGyroscopeFrameName(m_sens_index, m_framename);
return ok;
if (!ok) {
yCError(GENERICSENSOR_NWS_ROS2) << "getThreeAxisGyroscopeFrameName() failed";
return false;
}

return true;
}

void Imu_nws_ros2::run()
Expand All @@ -53,13 +67,16 @@ void Imu_nws_ros2::run()
yarp::sig::Vector vecgyr(3);
yarp::sig::Vector vecacc(3);
yarp::sig::Vector vecrpy(3);

m_iThreeAxisGyroscopes->getThreeAxisGyroscopeMeasure(m_sens_index, vecgyr, m_timestamp);
m_iThreeAxisLinearAccelerometers->getThreeAxisLinearAccelerometerMeasure(m_sens_index, vecacc, m_timestamp);
m_iOrientationSensors->getOrientationSensorMeasureAsRollPitchYaw(m_sens_index, vecrpy, m_timestamp);

tf2::Quaternion quat;
quat.setRPY(vecrpy[0] * M_PI / 180.0, vecrpy[1] * M_PI / 180.0, vecrpy[2] * M_PI / 180.0);
quat.normalize();

sensor_msgs::msg::Imu imu_ros_data;
m_iThreeAxisGyroscopes->getThreeAxisGyroscopeMeasure(m_sens_index, vecgyr, m_timestamp);
m_iThreeAxisLinearAccelerometers->getThreeAxisLinearAccelerometerMeasure(m_sens_index, vecacc, m_timestamp);
m_iOrientationSensors->getOrientationSensorMeasureAsRollPitchYaw(m_sens_index, vecrpy, m_timestamp);
imu_ros_data.header.frame_id = m_framename;
imu_ros_data.header.stamp = ros2TimeFromYarp(m_timestamp);
imu_ros_data.angular_velocity.x = vecgyr[0] * M_PI / 180.0;
Expand All @@ -71,7 +88,20 @@ void Imu_nws_ros2::run()
imu_ros_data.orientation.x = quat.x();
imu_ros_data.orientation.y = quat.y();
imu_ros_data.orientation.z = quat.z();
imu_ros_data.orientation.z = quat.w();
imu_ros_data.orientation.w = quat.w();
m_publisher->publish(imu_ros_data);

if (m_iThreeAxisMagnetometers)
{
yarp::sig::Vector vecmag(3);
m_iThreeAxisMagnetometers->getThreeAxisMagnetometerMeasure(m_sens_index, vecmag, m_timestamp);
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Even if the m_iThreeAxisMagnetometers interface exists, it is still possible that getNrOfThreeAxisMagnetometers() returns 0, and this call will return false, so I would either check the return value of getNrOfThreeAxisMagnetometers() and or the return value of this function before putting the data in the message.

sensor_msgs::msg::MagneticField mag_ros_data;
mag_ros_data.header.frame_id = m_framename;
mag_ros_data.header.stamp = ros2TimeFromYarp(m_timestamp);
mag_ros_data.magnetic_field.x=vecmag[0];
mag_ros_data.magnetic_field.y=vecmag[1];
mag_ros_data.magnetic_field.z=vecmag[2];
m_publisher_mag->publish(mag_ros_data);
}
}
}
4 changes: 4 additions & 0 deletions src/devices/multipleAnalogSensors_nws_ros2/Imu_nws_ros2.h
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Expand Up @@ -8,6 +8,7 @@

#include "GenericSensor_nws_ros2.h"
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/magnetic_field.hpp>

/**
* @ingroup dev_impl_wrapper
Expand Down Expand Up @@ -46,6 +47,9 @@ class Imu_nws_ros2 : public GenericSensor_nws_ros2<sensor_msgs::msg::Imu>

protected:
bool viewInterfaces() override;

private:
rclcpp::Publisher<sensor_msgs::msg::MagneticField>::SharedPtr m_publisher_mag=nullptr;
};

#endif // YARP_DEV_IMU_NWS_ROS2_H
7 changes: 6 additions & 1 deletion src/devices/multipleAnalogSensors_nws_ros2/WrenchStamped_nws_ros2.cpp
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Expand Up @@ -12,7 +12,12 @@ bool WrenchStamped_nws_ros2::viewInterfaces()
// View all the interfaces
bool ok = m_poly->view(m_iFTsens);
m_iFTsens->getSixAxisForceTorqueSensorFrameName(m_sens_index, m_framename);
return ok;
if (!ok)
{
yCError(GENERICSENSOR_NWS_ROS2) << "getSixAxisForceTorqueSensorFrameName() failed";
return false;
}
return true;
}

void WrenchStamped_nws_ros2::run()
Expand Down