gazebo_vision_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 Vision Plugin
*
* This plugin simulates VIO data
*
* @author Christoph Tobler <christoph@px4.io>
* @author Nuno Marques <nuno.marques@dronesolutions.io>
*/
#ifndef _GAZEBO_VISION_PLUGIN_HH_
#define _GAZEBO_VISION_PLUGIN_HH_
#include <math.h>
#include <common.h>
#include <sdf/sdf.hh>
#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 <Odometry.pb.h>
namespace gazebo
{
class GAZEBO_VISIBLE VisionPlugin : public ModelPlugin
{
public:
VisionPlugin();
virtual ~VisionPlugin();
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 _updateConnection;
nav_msgs::msgs::Odometry odom_msg;
transport::NodePtr _nh;
transport::PublisherPtr _pub_odom;
common::Time _last_pub_time;
common::Time _last_time;
ignition::math::Pose3d _pose_model_start;
double _pub_rate;
// vision position estimate noise parameters
double _corellation_time;
double _random_walk;
double _noise_density;
ignition::math::Vector3d _bias;
std::default_random_engine _rand;
std::normal_distribution<float> _randn;
static constexpr double kDefaultPubRate = 30.0; // [Hz]
static constexpr double kDefaultCorrelationTime = 60.0; // [s]
static constexpr double kDefaultRandomWalk = 1.0; // [(m/s) / sqrt(hz)]
static constexpr double kDefaultNoiseDensity = 0.0005;// [(m) / sqrt(hz)]
}; // class GAZEBO_VISIBLE VisionPlugin
} // namespace gazebo
#endif // _GAZEBO_VISION_PLUGIN_HH_