gazebo_barometer_plugin.h
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/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @brief Barometer Plugin
*
* This plugin simulates barometer data
*
* @author Elia Tarasov <elias.tarasov@gmail.com>
*/
#ifndef _GAZEBO_BAROMETER_PLUGIN_HH_
#define _GAZEBO_BAROMETER_PLUGIN_HH_
#include <common.h>
#include <sdf/sdf.hh>
#include <string>
#include <random>
#include <gazebo/common/Plugin.hh>
#include <gazebo/gazebo.hh>
#include <gazebo/util/system.hh>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/physics/physics.hh>
#include <ignition/math.hh>
#include <Pressure.pb.h>
namespace gazebo {
static constexpr auto kDefaultBarometerTopic = "/baro";
static constexpr auto kDefaultPubRate = 50.0; // [Hz]. Note: averages the supported Baro device ODR in PX4
static constexpr auto kDefaultAltHome = 488.0; // meters
class BarometerPlugin : public ModelPlugin {
public:
BarometerPlugin();
virtual ~BarometerPlugin();
protected:
virtual void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
virtual void OnUpdate(const common::UpdateInfo&);
void getSdfParams(sdf::ElementPtr sdf);
private:
std::string namespace_;
physics::ModelPtr model_;
physics::WorldPtr world_;
event::ConnectionPtr update_connection_;
std::string baro_topic_;
transport::NodePtr node_handle_;
transport::PublisherPtr pub_baro_;
sensor_msgs::msgs::Pressure baro_msg_;
unsigned int pub_rate_;
std::default_random_engine random_generator_;
std::normal_distribution<double> standard_normal_distribution_;
common::Time last_pub_time_;
common::Time last_time_;
ignition::math::Pose3d pose_model_start_;
ignition::math::Vector3d gravity_W_;
double alt_home_;
// state variables for baro pressure sensor random noise generator
double baro_rnd_y2_;
bool baro_rnd_use_last_;
double baro_drift_pa_per_sec_;
double baro_drift_pa_;
}; // class BarometerPlugin
} // namespace gazebo
#endif // _GAZEBO_BAROMETER_PLUGIN_HH_