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138 lines
4.3 KiB
138 lines
4.3 KiB
/*
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* Copyright (C) 2012-2017 Open Source Robotics Foundation
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* Copyright (C) 2017-2020 PX4 Development Team. All rights reserved
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/**
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* @brief GPS Plugin
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*
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* This plugin publishes GPS data to be used and propagated
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*
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* @author Amy Wagoner <arwagoner@gmail.com>
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* @author Nuno Marques <nuno.marques@dronesolutions.io>
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*/
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#ifndef _GAZEBO_GPS_PLUGIN_HH_
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#define _GAZEBO_GPS_PLUGIN_HH_
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#include <math.h>
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#include <cstdio>
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#include <cstdlib>
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#include <queue>
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#include <random>
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#include <sdf/sdf.hh>
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#include <common.h>
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#include <gazebo/common/Plugin.hh>
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#include <gazebo/gazebo.hh>
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#include <gazebo/util/system.hh>
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#include <gazebo/transport/transport.hh>
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#include <gazebo/msgs/msgs.hh>
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#include <gazebo/physics/physics.hh>
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#include <ignition/math.hh>
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#include <gazebo/sensors/SensorTypes.hh>
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#include <gazebo/sensors/GpsSensor.hh>
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#include <SITLGps.pb.h>
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namespace gazebo
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{
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static constexpr double kDefaultUpdateRate = 5.0; // hz
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static constexpr double kDefaultGpsXYRandomWalk = 2.0; // (m/s) / sqrt(hz)
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static constexpr double kDefaultGpsZRandomWalk = 4.0; // (m/s) / sqrt(hz)
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static constexpr double kDefaultGpsXYNoiseDensity = 2.0e-4; // (m) / sqrt(hz)
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static constexpr double kDefaultGpsZNoiseDensity = 4.0e-4; // (m) / sqrt(hz)
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static constexpr double kDefaultGpsVXYNoiseDensity = 0.2; // (m/s) / sqrt(hz)
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static constexpr double kDefaultGpsVZNoiseDensity = 0.4; // (m/s) / sqrt(hz)
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class GAZEBO_VISIBLE GpsPlugin : public SensorPlugin
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{
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public:
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GpsPlugin();
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virtual ~GpsPlugin();
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protected:
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virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
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virtual void OnSensorUpdate();
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virtual void OnWorldUpdate(const common::UpdateInfo& /*_info*/);
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private:
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std::string namespace_;
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std::string gps_id_;
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std::default_random_engine random_generator_;
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std::normal_distribution<float> standard_normal_distribution_;
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bool gps_noise_;
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std::string model_name_;
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sensors::GpsSensorPtr parentSensor_;
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physics::ModelPtr model_;
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physics::WorldPtr world_;
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event::ConnectionPtr updateWorldConnection_;
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event::ConnectionPtr updateSensorConnection_;
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transport::NodePtr node_handle_;
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transport::PublisherPtr gps_pub_;
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std::string gps_topic_;
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double update_rate_;
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common::Time last_gps_time_;
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common::Time last_time_;
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common::Time current_time_;
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common::Time start_time_;
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std::mutex data_mutex_;
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// Home defaults to Zurich Irchel Park
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// @note The home position can be specified using the environment variables:
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// PX4_HOME_LAT, PX4_HOME_LON, and PX4_HOME_ALT
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double lat_home_ = kDefaultHomeLatitude;
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double lon_home_ = kDefaultHomeLongitude;
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double alt_home_ = kDefaultHomeAltitude;
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double world_latitude_ = 0.0;
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double world_longitude_ = 0.0;
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double world_altitude_ = 0.0;
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// gps delay related
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static constexpr double gps_delay_ = 0.12; // 120 ms
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static constexpr int gps_buffer_size_max_ = 1000;
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std::queue<sensor_msgs::msgs::SITLGps> gps_delay_buffer_;
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ignition::math::Vector3d gps_bias_;
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ignition::math::Vector3d noise_gps_pos_;
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ignition::math::Vector3d noise_gps_vel_;
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ignition::math::Vector3d random_walk_gps_;
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ignition::math::Vector3d gravity_W_;
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ignition::math::Vector3d velocity_prev_W_;
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// gps noise parameters
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double std_xy_; // meters
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double std_z_; // meters
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std::default_random_engine rand_;
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std::normal_distribution<float> randn_;
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static constexpr const double gps_corellation_time_ = 60.0; // s
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double gps_xy_random_walk_;
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double gps_z_random_walk_;
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double gps_xy_noise_density_;
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double gps_z_noise_density_;
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double gps_vxy_noise_density_;
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double gps_vz_noise_density_;
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}; // class GAZEBO_VISIBLE GpsPlugin
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} // namespace gazebo
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#endif // _GAZEBO_GPS_PLUGIN_HH_
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