rtk_localization_component.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <memory>
#include <string>
 
#include "Eigen/Eigen"
// Eigen 3.3.7: #define ALIVE (0)
// fastrtps: enum ChangeKind_t { ALIVE, ... };
#if defined(ALIVE)
#undef ALIVE
#endif
 
#include "modules/common_msgs/localization_msgs/gps.pb.h"
#include "modules/common_msgs/localization_msgs/imu.pb.h"
#include "modules/common_msgs/localization_msgs/localization.pb.h"
#include "modules/common_msgs/sensor_msgs/ins.pb.h"
#include "modules/localization/proto/rtk_config.pb.h"
 
#include "cyber/class_loader/class_loader.h"
#include "cyber/component/component.h"
#include "cyber/cyber.h"
#include "cyber/message/raw_message.h"
#include "modules/localization/rtk/rtk_localization.h"
#include "modules/transform/transform_broadcaster.h"
 
namespace apollo {
namespace localization {
 
class RTKLocalizationComponent final
    : public cyber::Component<localization::Gps> {
 public:
  RTKLocalizationComponent();
  ~RTKLocalizationComponent() = default;
 
  bool Init() override;
 
  bool Proc(const std::shared_ptr<localization::Gps> &gps_msg) override;
 
 private:
  bool InitConfig();
  bool InitIO();
  bool GetLocalizationToImuTF();
  void CompensateImuLocalizationExtrinsic(LocalizationEstimate *localization);
 
  void PublishPoseBroadcastTF(const LocalizationEstimate &localization);
  void PublishPoseBroadcastTopic(const LocalizationEstimate &localization);
  void PublishLocalizationStatus(const LocalizationStatus &localization_status);
 
 private:
  std::shared_ptr<cyber::Reader<localization::CorrectedImu>>
      corrected_imu_listener_ = nullptr;
  std::shared_ptr<cyber::Reader<drivers::gnss::InsStat>> gps_status_listener_ =
      nullptr;
 
  std::shared_ptr<cyber::Writer<LocalizationEstimate>> localization_talker_ =
      nullptr;
  std::shared_ptr<cyber::Writer<LocalizationStatus>>
      localization_status_talker_ = nullptr;
 
  std::string localization_topic_ = "";
  std::string localization_status_topic_ = "";
  std::string gps_topic_ = "";
  std::string gps_status_topic_ = "";
  std::string imu_topic_ = "";
 
  std::string broadcast_tf_frame_id_ = "";
  std::string broadcast_tf_child_frame_id_ = "";
  std::string imu_frame_id_ = "";
  std::unique_ptr<apollo::transform::TransformBroadcaster> tf2_broadcaster_;
 
  // transform from localization to imu
  std::unique_ptr<Eigen::Quaterniond> imu_localization_quat_;
  std::unique_ptr<Eigen::Vector3d> imu_localization_translation_;
 
  std::unique_ptr<RTKLocalization> localization_;
};
 
CYBER_REGISTER_COMPONENT(RTKLocalizationComponent);
 
}  // namespace localization
}  // namespace apollo