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also publish lts_status as part of emulation_nav #285

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also publish lts_status as part of emulation_nav #285

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2 changes: 2 additions & 0 deletions cob_hardware_emulation/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,10 +17,12 @@
<exec_depend>actionlib</exec_depend>
<exec_depend>actionlib_msgs</exec_depend>
<exec_depend>control_msgs</exec_depend>
<exec_depend>ipa_navigation_msgs</exec_depend>
<exec_depend>move_base_msgs</exec_depend>
<exec_depend>nav_msgs</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>std_srvs</exec_depend>
<exec_depend>tf_conversions</exec_depend>
<exec_depend>tf2_ros</exec_depend>
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18 changes: 16 additions & 2 deletions cob_hardware_emulation/scripts/emulation_nav.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,9 @@
from actionlib_msgs.msg import GoalStatus
from geometry_msgs.msg import Transform, TransformStamped, PoseStamped
from geometry_msgs.msg import PoseWithCovarianceStamped, Quaternion
from ipa_navigation_msgs.msg import LTSNGStatus
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal, MoveBaseResult
from std_msgs.msg import Header

class EmulationNav(object):
def __init__(self, odom_frame):
Expand All @@ -20,6 +22,7 @@ def __init__(self, odom_frame):
# - /initialpose [geometry_msgs/PoseWithCovarianceStamped]
# - publishers:
# - tf (map --> odom_frame)
# - /lts_ng/lts_status
# - actions:
# - move_base [move_base_msgs/MoveBaseAction] (optional)

Expand Down Expand Up @@ -50,6 +53,7 @@ def __init__(self, odom_frame):
quat = tf.transformations.quaternion_from_euler(0, 0, initialpose[2])
self._odom_transform.rotation = Quaternion(*quat)

self._lts_status_pub = rospy.Publisher("/lts_ng/lts_status", LTSNGStatus, queue_size=1)
rospy.Subscriber("/initialpose", PoseWithCovarianceStamped, self.initalpose_callback, queue_size=1)
rospy.Timer(rospy.Duration(0.04), self.timer_cb)

Expand Down Expand Up @@ -102,16 +106,26 @@ def initalpose_callback(self, msg):
return

def timer_cb(self, event):
header = Header()
header.stamp = rospy.Time.now()
header.frame_id = "map"

# publish lts_status
lts_status = LTSNGStatus()
lts_status.header = header
lts_status.state = LTSNGStatus.STATE_TRACKING
# TODO: only setting minimal required message fields for now - to be extended later

# publish tf
# pub odom_frame --> map
t_loc = TransformStamped()
t_loc.header.stamp = rospy.Time.now()
t_loc.header.frame_id = "map"
t_loc.header = header
t_loc.child_frame_id = self._odom_frame
t_loc.transform = self._odom_transform

transforms = [t_loc]

self._lts_status_pub.publish(lts_status)
self._transform_broadcaster.sendTransform(transforms)

def move_base_cb(self, goal):
Expand Down