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118 lines
4.0 KiB
118 lines
4.0 KiB
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @brief Magnetometer Plugin
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*
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* This plugin simulates magnetometer data
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*
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* @author Elia Tarasov <elias.tarasov@gmail.com>
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*/
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#ifndef _GAZEBO_MAGNETOMETER_PLUGIN_HH_
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#define _GAZEBO_MAGNETOMETER_PLUGIN_HH_
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#include <random>
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#include <string>
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#include <Eigen/Core>
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#include <MagneticField.pb.h>
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#include <Groundtruth.pb.h>
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#include <gazebo/common/common.hh>
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#include <gazebo/common/Plugin.hh>
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#include <gazebo/gazebo.hh>
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#include <gazebo/physics/physics.hh>
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#include <gazebo/transport/transport.hh>
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#include <gazebo/msgs/msgs.hh>
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#include <ignition/math.hh>
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#include <common.h>
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#include <geo_mag_declination.h>
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namespace gazebo {
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static constexpr auto kDefaultMagnetometerTopic = "mag";
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static constexpr auto kDefaultPubRate = 100.0; // [Hz]. Note: corresponds to most of the mag devices supported in PX4
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// Default values for use with ADIS16448 IMU
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static constexpr auto kDefaultNoiseDensity = 0.4*1e-3; // [gauss / sqrt(hz)]
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static constexpr auto kDefaultRandomWalk = 6.4*1e-6; // [gauss * sqrt(hz)]
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static constexpr auto kDefaultBiasCorrelationTime = 6.0e+2; // [s]
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typedef const boost::shared_ptr<const sensor_msgs::msgs::Groundtruth> GtPtr;
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class MagnetometerPlugin : public ModelPlugin {
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public:
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MagnetometerPlugin();
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virtual ~MagnetometerPlugin();
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protected:
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virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
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virtual void OnUpdate(const common::UpdateInfo&);
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void addNoise(Eigen::Vector3d* magnetic_field, const double dt);
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void GroundtruthCallback(GtPtr&);
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void getSdfParams(sdf::ElementPtr sdf);
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private:
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std::string namespace_;
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physics::ModelPtr model_;
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physics::WorldPtr world_;
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std::string mag_topic_;
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transport::NodePtr node_handle_;
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transport::PublisherPtr pub_mag_;
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transport::SubscriberPtr gt_sub_;
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std::string gt_sub_topic_;
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double groundtruth_lat_rad_;
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double groundtruth_lon_rad_;
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event::ConnectionPtr update_connection_;
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sensor_msgs::msgs::MagneticField mag_message_;
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common::Time last_time_;
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common::Time last_pub_time_;
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unsigned int pub_rate_;
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double noise_density_;
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double random_walk_;
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double bias_correlation_time_;
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Eigen::Vector3d bias_;
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std::default_random_engine random_generator_;
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std::normal_distribution<double> standard_normal_distribution_;
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}; // class MagnetometerPlugin
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} // namespace gazebo
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#endif // _GAZEBO_MAGNETOMETER_PLUGIN_HH_
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