world odom world tf broadcast

alpha_localization/CMakeLists.txt

@@ -14,9 +14,15 @@ find_package(catkin REQUIRED COMPONENTS
   geographic_msgs
   nav_msgs
   tf2_eigen
+  tf2
+  tf2_ros
 )
 
 find_package(Eigen3 REQUIRED)
+
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "/usr/share/cmake/geographiclib/")
+find_package(GeographicLib REQUIRED)
+
 add_definitions(${EIGEN_DEFINITIONS})
 
 catkin_package(
@@ -53,8 +59,7 @@ include_directories(
 add_executable(depth_filter_node src/depth_filter_node.cpp)
 add_executable(pressure_to_depth_node src/pressure_to_depth_node.cpp)
 add_executable(imu_ned_to_enu src/imu_ned_enu.cpp)
-add_executable(geopose_publisher_node src/geopose_publisher_node.cpp)
-add_executable(gps_odom_transform_node src/gps_odom_transform.cpp)
+add_executable(world_odom_transform_node src/world_odom_transform.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -67,8 +72,7 @@ add_executable(gps_odom_transform_node src/gps_odom_transform.cpp)
 add_dependencies(depth_filter_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 add_dependencies(pressure_to_depth_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 add_dependencies(imu_ned_to_enu ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-add_dependencies(geopose_publisher_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-add_dependencies(gps_odom_transform_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(world_odom_transform_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
 target_link_libraries(depth_filter_node
@@ -83,10 +87,7 @@ target_link_libraries(imu_ned_to_enu
   ${catkin_LIBRARIES}
 )
 
-target_link_libraries(geopose_publisher_node
-  ${catkin_LIBRARIES}
-)
 
-target_link_libraries(gps_odom_transform_node
+target_link_libraries(world_odom_transform_node
   ${catkin_LIBRARIES}
 )

alpha_localization/launch/world_odom_transform.launch

@@ -0,0 +1,24 @@
+<launch>
+
+    <arg name="robot_name" value="alpha_rise"/>
+
+    <node ns="$(arg robot_name)" pkg="alpha_localization" type="world_odom_transform_node" name="world_odom_transform_node" output="screen">
+        <param name = "tf_prefix" value="$(arg robot_name)"/>
+        <!-- <param name = "mag_declination" value="0.2" /> -->
+        <param name = "acceptable_var" value = "5" />
+        <param name ="m_gps_wait_time" value ="5"/>
+        <!-- beach_pond -->
+        <!-- <param name = "datum_latitude" value="41.574236666666664"/> -->
+        <!-- <param name = "datum_longitude" value="-71.787575"/> -->
+        <!-- allen harbor -->
+        <!-- <param name = "datum_latitude" value="41.621601667"/> -->
+        <!-- <param name = "datum_longitude" value="-71.411018333"/> -->
+        <param name = "datum_latitude" value="41.6216"/>
+        <param name = "datum_longitude" value="-71.41095"/>
+        <param name = "position_accuracy" value="3.0"/>
+        <remap from = "odometry" to ="odometry/filtered/local" />
+    </node>
+
+
+
+</launch>

alpha_localization/package.xml

@@ -21,6 +21,8 @@
   <depend>geographic_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>tf2_eigen</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
 
 
 </package>

alpha_localization/readme.md

@@ -0,0 +1,22 @@
+# A suite of localization nodes
+
+### Dependency
+- GeographicLib
+```
+sudo apt install geographiclib-tools
+sudo apt install libgeographic-dev
+```
+
+- for magnetic model installation please check this link
+```
+https://geographiclib.sourceforge.io/C++/doc/magnetic.html
+```
+- download the `WMM2020` model then do the following
+```
+sudo mkdir -p /usr/local/share/GeographicLib
+sudo tar xofjC wmm2020.tar.bz2 /usr/local/share/GeographicLib
+```
+- you may need to rename the file, e.g.,
+```
+sudo cp wmm2020.wmm WMM2020.wmm
+```