Harderthan/messages

airsim_ros_pkgs/CMakeLists.txt

@@ -58,7 +58,8 @@ target_link_libraries(airsim_settings_parser
 
 set(ARISIM_SOURCES
   src/airsim_ros_wrapper.cpp
-  src/command_subscriber.cpp)
+  src/command_subscriber.cpp
+  src/messages.cpp)
 add_library(airsim_ros ${ARISIM_SOURCES})
 add_dependencies(airsim_ros
   ${${PROJECT_NAME}_EXPORTED_TARGETS}

airsim_ros_pkgs/include/airsim_ros_pkgs/airsim_ros_wrapper.hpp

@@ -78,7 +78,8 @@ class AirsimClient {
 
   airsim_ros_pkgs::GPSYaw GetHomeGeoPoint() const {
     const auto origin_geo_point = airsim_client_robot_->getHomeGeoPoint("");
-    return utils::GetGpsMsgFromAirsimGeoPoint(origin_geo_point);
+    return messages::helper_functions::GetGpsMsgFromAirsimGeoPoint(
+        origin_geo_point);
   }
 
  private:

airsim_ros_pkgs/include/airsim_ros_pkgs/messages.hpp

@@ -4,6 +4,13 @@
 #include <string>
 
 #include "mavros_msgs/AttitudeTarget.h"
+#include "nav_msgs/Odometry.h"
+#include "sensor_msgs/Imu.h"
+#include "sensor_msgs/MagneticField.h"
+#include "sensor_msgs/NavSatFix.h"
+#include "sensor_msgs/PointCloud2.h"
+#include "sensor_msgs/Range.h"
+#include "tf2/LinearMath/Quaternion.h"
 
 // ROS custom msgs.
 #include "airsim_ros_pkgs/Altimeter.h"
@@ -25,11 +32,56 @@
 
 #include "common/AirSimSettings.hpp"
 #include "common/CommonStructs.hpp"
+#include "sensors/barometer/BarometerBase.hpp"
+#include "sensors/distance/DistanceSimple.hpp"
+#include "sensors/gps/GpsBase.hpp"
+#include "sensors/imu/ImuBase.hpp"
+#include "sensors/lidar/LidarSimple.hpp"
+#include "sensors/magnetometer/MagnetometerBase.hpp"
+#include "vehicles/car/api/CarApiBase.hpp"
+#include "vehicles/multirotor/api/MultirotorApiBase.hpp"
 #include "vehicles/multirotor/api/MultirotorCommon.hpp"
 
 namespace airsim_ros {
 namespace messages {
 
+namespace helper_functions {
+
+airsim_ros_pkgs::GPSYaw GetGpsMsgFromAirsimGeoPoint(
+    const msr::airlib::GeoPoint &geo_point);
+
+msr::airlib::Quaternionr GetAirlibQuatFromRos(const tf2::Quaternion &tf2_quat);
+
+nav_msgs::Odometry GetOdomMsgFromMultirotorState(
+    const msr::airlib::MultirotorState &drone_state, bool isEnu);
+
+nav_msgs::Odometry GetOdomMsgFromTruthState(
+    const msr::airlib::Kinematics::State &truth_state, bool isEnu);
+
+sensor_msgs::PointCloud2 GetLidarMsgFromAirsim(
+    const msr::airlib::LidarData &lidar_data, const std::string &vehicle_name,
+    bool isEnu);
+
+airsim_ros_pkgs::Environment GetEnvironmentMsgFromAirsim(
+    const msr::airlib::Environment::State &env_data);
+
+sensor_msgs::MagneticField GetMagMsgFromAirsim(
+    const msr::airlib::MagnetometerBase::Output &mag_data);
+
+sensor_msgs::NavSatFix GetGpsMsgFromAirsim(
+    const msr::airlib::GpsBase::Output &gps_data);
+
+sensor_msgs::Range GetRangeFromAirsim(
+    const msr::airlib::DistanceSensorData &dist_data);
+
+airsim_ros_pkgs::Altimeter GetAltimeterMsgFromAirsim(
+    const msr::airlib::BarometerBase::Output &alt_data);
+
+sensor_msgs::Imu GetImuMsgFromAirsim(
+    const msr::airlib::ImuBase::Output &imu_data);
+
+}  // namespace helper_functions
+
 struct VelCmd {
   double x;
   double y;

airsim_ros_pkgs/include/airsim_ros_pkgs/utils.hpp

@@ -1,12 +1,6 @@
 #ifndef AIRSIM_ROS_PKGS_INCLUDE_AIRSIM_ROS_PKGS_UTILS_HPP_
 #define AIRSIM_ROS_PKGS_INCLUDE_AIRSIM_ROS_PKGS_UTILS_HPP_
 
-#include "tf2/LinearMath/Quaternion.h"
-
-#include "common/CommonStructs.hpp"
-
-#include "airsim_ros_pkgs/messages.hpp"
-
 namespace airsim_ros {
 namespace utils {
 
@@ -58,21 +52,6 @@ inline T angular_dist(T from, T to) {
   return d;
 }
 
-inline airsim_ros_pkgs::GPSYaw GetGpsMsgFromAirsimGeoPoint(
-    const msr::airlib::GeoPoint& geo_point) {
-  airsim_ros_pkgs::GPSYaw gps_msg;
-  gps_msg.latitude = geo_point.latitude;
-  gps_msg.longitude = geo_point.longitude;
-  gps_msg.altitude = geo_point.altitude;
-  return gps_msg;
-}
-
-inline msr::airlib::Quaternionr GetAirlibQuatFromRos(
-    const tf2::Quaternion& tf2_quat) {
-  return msr::airlib::Quaternionr(tf2_quat.w(), tf2_quat.x(), tf2_quat.y(),
-                                  tf2_quat.z());
-}
-
 }  // namespace utils
 }  // namespace airsim_ros
 

airsim_ros_pkgs/src/command_subscriber.cpp

@@ -31,7 +31,8 @@ void CommandSubscriber::GimbalAngleQuatCommandCallback(
   try {
     tf2::convert(gimbal_angle_quat_cmd_msg->orientation, quaternion_command);
     quaternion_command.normalize();
-    gimbal_cmd_.target_quat = utils::GetAirlibQuatFromRos(quaternion_command);
+    gimbal_cmd_.target_quat =
+        messages::helper_functions::GetAirlibQuatFromRos(quaternion_command);
     gimbal_cmd_.camera_name = gimbal_angle_quat_cmd_msg->camera_name;
     gimbal_cmd_.vehicle_name = gimbal_angle_quat_cmd_msg->vehicle_name;
     has_gimbal_cmd_ = true;
@@ -48,7 +49,8 @@ void CommandSubscriber::GimbalAngleEulerCommandCallback(
                               utils::deg2rad(gimbal_angle_euler_cmd_msg->pitch),
                               utils::deg2rad(gimbal_angle_euler_cmd_msg->yaw));
     quaternion_command.normalize();
-    gimbal_cmd_.target_quat = utils::GetAirlibQuatFromRos(quaternion_command);
+    gimbal_cmd_.target_quat =
+        messages::helper_functions::GetAirlibQuatFromRos(quaternion_command);
     gimbal_cmd_.camera_name = gimbal_angle_euler_cmd_msg->camera_name;
     gimbal_cmd_.vehicle_name = gimbal_angle_euler_cmd_msg->vehicle_name;
     has_gimbal_cmd_ = true;