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Update gdt calculation in tfCallback

This commit is contained in:
Yu Asabe 2021-12-07 15:19:13 +09:00
parent 678a29efc7
commit d17ab6bc99
1 changed files with 43 additions and 43 deletions
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86
src/v2x_app.cpp
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@ -46,58 +46,58 @@ namespace v2x
}
void V2XApp::tfCallback(const tf2_msgs::msg::TFMessage::ConstSharedPtr msg) {
if (tf_interval_ == 4) {
// RCLCPP_INFO(node_->get_logger(), "V2XApp: tf msg received");
tf_received_ = true;
// RCLCPP_INFO(node_->get_logger(), "V2XApp: tf msg received");
tf_received_ = true;
double x = msg->transforms[0].transform.translation.x;
double y = msg->transforms[0].transform.translation.y;
double z = msg->transforms[0].transform.translation.z;
int gdt_timestamp_sec = msg->transforms[0].header.stamp.sec; // seconds
int gdt_timestamp_nsec = msg->transforms[0].header.stamp.nanosec; // nanoseconds
long long gdt_timestamp = gdt_timestamp_sec * 1e9 + gdt_timestamp_nsec; // nanoseconds
long long gdt_timestamp_msec = gdt_timestamp / 1000000;
long long gdt_timestamp_msec_etsi_epoch = gdt_timestamp_msec - 1072915200000;
int gdt = gdt_timestamp_msec_etsi_epoch % 65536; // milliseconds
RCLCPP_INFO(node_->get_logger(), "gdt %d, gdt_timestamp %ld, gdt_timestamp_etsi %ld", gdt, gdt_timestamp_msec, gdt_timestamp_msec_etsi_epoch);
double x = msg->transforms[0].transform.translation.x;
double y = msg->transforms[0].transform.translation.y;
double z = msg->transforms[0].transform.translation.z;
double rot_x = msg->transforms[0].transform.rotation.x;
double rot_y = msg->transforms[0].transform.rotation.y;
double rot_z = msg->transforms[0].transform.rotation.z;
double rot_w = msg->transforms[0].transform.rotation.w;
long long timestamp_sec = msg->transforms[0].header.stamp.sec; // seconds
long long timestamp_nsec = msg->transforms[0].header.stamp.nanosec; // nanoseconds
timestamp_sec -= 1072915200; // convert to etsi-epoch
long long timestamp_msec = timestamp_sec * 1000 + timestamp_nsec / 1000000;
// long long gdt_timestamp = gdt_timestamp_sec * 1e9 + gdt_timestamp_nsec; // nanoseconds
// long long gdt_timestamp_msec = gdt_timestamp / 1000000;
// long long gdt_timestamp_msec_etsi_epoch = gdt_timestamp_msec - 1072915200000;
// int gdt = gdt_timestamp_msec_etsi_epoch % 65536; // milliseconds
int gdt = timestamp_msec % 65536;
RCLCPP_INFO(node_->get_logger(), "[tfCallback] %d,%lld,%lld,%lld", gdt, timestamp_msec, timestamp_sec, timestamp_nsec);
// Convert the quarternion to euler (yaw, pitch, roll)
tf2::Quaternion quat(rot_x, rot_y, rot_z, rot_w);
tf2::Matrix3x3 matrix(quat);
double roll, pitch, yaw;
matrix.getRPY(roll, pitch, yaw);
double rot_x = msg->transforms[0].transform.rotation.x;
double rot_y = msg->transforms[0].transform.rotation.y;
double rot_z = msg->transforms[0].transform.rotation.z;
double rot_w = msg->transforms[0].transform.rotation.w;
// Convert the quarternion to euler (yaw, pitch, roll)
tf2::Quaternion quat(rot_x, rot_y, rot_z, rot_w);
tf2::Matrix3x3 matrix(quat);
double roll, pitch, yaw;
matrix.getRPY(roll, pitch, yaw);
char mgrs[20];
int zone, prec;
bool northp;
double x_mgrs, y_mgrs;
double lat, lon;
sprintf(mgrs, "54SVE%.5d%.5d", (int)x, (int)y);
// RCLCPP_INFO(node_->get_logger(), "MGRS: %s", mgrs);
char mgrs[20];
int zone, prec;
bool northp;
double x_mgrs, y_mgrs;
double lat, lon;
sprintf(mgrs, "54SVE%.5d%.5d", (int)x, (int)y);
// RCLCPP_INFO(node_->get_logger(), "MGRS: %s", mgrs);
GeographicLib::MGRS::Reverse(mgrs, zone, northp, x_mgrs, y_mgrs, prec);
GeographicLib::UTMUPS::Reverse(zone, northp, x_mgrs, y_mgrs, lat, lon);
GeographicLib::MGRS::Reverse(mgrs, zone, northp, x_mgrs, y_mgrs, prec);
GeographicLib::UTMUPS::Reverse(zone, northp, x_mgrs, y_mgrs, lat, lon);
// RCLCPP_INFO(node_->get_logger(), "Ego Position Lat/Lon: %f, %f", lat, lon);
// RCLCPP_INFO(node_->get_logger(), "Ego Orientation: %f, %f, %f, %f", rot_x, rot_y, rot_z, rot_w);
// RCLCPP_INFO(node_->get_logger(), "Ego Orientation: %f %f %f", roll, pitch, yaw);
// RCLCPP_INFO(node_->get_logger(), "Timestamp: %d, GDT: %d", timestamp, gdt);
// RCLCPP_INFO(node_->get_logger(), "Ego Position Lat/Lon: %f, %f", lat, lon);
// RCLCPP_INFO(node_->get_logger(), "Ego Orientation: %f, %f, %f, %f", rot_x, rot_y, rot_z, rot_w);
// RCLCPP_INFO(node_->get_logger(), "Ego Orientation: %f %f %f", roll, pitch, yaw);
// RCLCPP_INFO(node_->get_logger(), "Timestamp: %d, GDT: %d", timestamp, gdt);
if (cp && cp_started_) {
cp->updateMGRS(&x, &y);
cp->updateRP(&lat, &lon, &z);
cp->updateHeading(&yaw);
cp->updateGenerationDeltaTime(&gdt, &gdt_timestamp);
}
tf_interval_ = 0;
if (cp && cp_started_) {
cp->updateMGRS(&x, &y);
cp->updateRP(&lat, &lon, &z);
cp->updateHeading(&yaw);
cp->updateGenerationDeltaTime(&gdt, &timestamp_msec);
}
tf_interval_ += 1;
}
void V2XApp::start() {