buggy state added

rb_ws/src/buggy/scripts/auton/buggystate.py

@@ -0,0 +1,113 @@
+import utm
+from nav_msgs.msg import Odometry as ROSOdom
+from sensor_msgs.msg import NavSatFix
+
+from tf.transformations import euler_from_quaternion
+
+from std_msgs.msg import Bool
+
+from microstrain_inertial_msgs.msg import GNSSFixInfo
+
+
+
+import rospy
+
+
+class BuggyState:
+    """
+    Basically a translator from ROSOdom to ensure everything is in the correct units.
+
+    Other files should ONLY interface with the nav/odom messages through this file!
+
+    (functionally: this should replace telematics, pose and world)
+
+    """
+
+    def __init__(self, name = "sc"):
+        self.filter_odom : ROSOdom = None
+        self.gnss_1 : ROSOdom = None
+        self.gnss_2 : ROSOdom = None
+        self.gps_fix : int = 0
+
+
+        # to report if the filter position has separated (so we need to break)
+        rospy.Subscriber(name + "/debug/filter_gps_seperation_status", Bool, self.update_use_gps)
+
+        rospy.Subscriber(name + "/nav/odom", ROSOdom, self.update_odom)
+        rospy.Subscriber("/gnss1/odom", ROSOdom, self.update_gnss1)
+        rospy.Subscriber("/gnss2/odom", ROSOdom, self.update_gnss2)
+        rospy.Subscriber("/gnss1/fix_info", GNSSFixInfo, self.update_gnss1_fix)
+
+
+    def update_use_gps(self, msg):
+        self.use_gps = msg
+    def update_odom(self, msg):
+        self.filter_odom = msg
+    def update_gnss1(self, msg):
+        self.gnss_1 = msg
+    def update_gnss2(self, msg):
+        self.gnss_2 = msg
+    def update_gnss1_fix(self, msg):
+        self.gps_fix = msg.fix_type
+
+    def odom_to_navsatfix(self, odom):
+        """Convert Odometry-type to NavSatFix-type for plotting on Foxglove
+        Args:
+            odom (Odometry): odometry object to convert
+        """
+        lat = odom.pose.pose.position.y
+        long = odom.pose.pose.position.x
+        down = odom.pose.pose.position.z
+        new_odom = NavSatFix()
+        new_odom.header = odom.header
+        new_odom.latitude = lat
+        new_odom.longitude = long
+        new_odom.altitude = down
+        return new_odom
+
+    def get_gps_fix(self):
+        fix_string = "fix type: "
+        if (self.gps_fix == 0):
+            fix_string += "FIX_3D"
+        elif (self.gps_fix == 1):
+            fix_string += "FIX_2D"
+        elif (self.gps_fix == 2):
+            fix_string += "FIX_TIME_ONLY"
+        elif (self.gps_fix == 3):
+            fix_string += "FIX_NONE"
+        elif (self.gps_fix == 4):
+            fix_string += "FIX_INVALID"
+        elif (self.gps_fix == 5):
+            fix_string += "FIX_RTK_FLOAT"
+        else:
+            fix_string += "FIX_RTK_FIXED"
+        return fix_string
+
+    def get_pose(self):
+        if self.filter_odom == None:
+            return None
+
+        rospose = self.filter_odom.pose.pose
+        (_, _, yaw) = euler_from_quaternion(
+            [
+                rospose.orientation.x,
+                rospose.orientation.y,
+                rospose.orientation.z,
+                rospose.orientation.w,
+            ]
+        )
+
+        (easting, northing, _, _) = utm.from_latlon(rospose.position.y, rospose.position.x)
+
+        return (easting, northing, yaw)
+
+    def get_pos_covariance(self):
+        if self.filter_odom == None:
+            return None
+        return self.filter_odom.pose.covariance
+
+    def get_velocity(self):
+        if self.filter_odom == None:
+            return None
+        return self.filter_odom.twist.twist.linear
+