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105 lines
3.5 KiB
105 lines
3.5 KiB
/****************************************************************************
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*
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* Copyright (c) 2018 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 Vision Plugin
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*
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* This plugin simulates VIO data
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*
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* @author Christoph Tobler <christoph@px4.io>
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* @author Nuno Marques <nuno.marques@dronesolutions.io>
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*/
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#ifndef _GAZEBO_VISION_PLUGIN_HH_
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#define _GAZEBO_VISION_PLUGIN_HH_
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#include <math.h>
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#include <common.h>
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#include <sdf/sdf.hh>
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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 <Odometry.pb.h>
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namespace gazebo
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{
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class GAZEBO_VISIBLE VisionPlugin : public ModelPlugin
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{
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public:
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VisionPlugin();
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virtual ~VisionPlugin();
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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 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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event::ConnectionPtr _updateConnection;
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nav_msgs::msgs::Odometry odom_msg;
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transport::NodePtr _nh;
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transport::PublisherPtr _pub_odom;
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common::Time _last_pub_time;
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common::Time _last_time;
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ignition::math::Pose3d _pose_model_start;
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double _pub_rate;
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// vision position estimate noise parameters
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double _corellation_time;
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double _random_walk;
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double _noise_density;
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ignition::math::Vector3d _bias;
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std::default_random_engine _rand;
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std::normal_distribution<float> _randn;
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static constexpr double kDefaultPubRate = 30.0; // [Hz]
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static constexpr double kDefaultCorrelationTime = 60.0; // [s]
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static constexpr double kDefaultRandomWalk = 1.0; // [(m/s) / sqrt(hz)]
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static constexpr double kDefaultNoiseDensity = 0.0005;// [(m) / sqrt(hz)]
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}; // class GAZEBO_VISIBLE VisionPlugin
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} // namespace gazebo
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#endif // _GAZEBO_VISION_PLUGIN_HH_
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