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Publish GPS topic only at the surface #35

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Merged
woensug-choi merged 2 commits into from
Mar 24, 2021
Merged

Publish GPS topic only at the surface #35

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b520042
publish only at the surface
woensug-choi Mar 18, 2021
52aa21d
add descending command to test gps underwater
woensug-choi Mar 18, 2021
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16 changes: 15 additions & 1 deletion direct_kinematics_ros_plugins/test/test_directKinematics.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,21 @@ def command(startTime):
command.header.stamp = rospy.Time.now()
command.pitch_cmd_type = 1
command.target_pitch_value = -0.01
command.target_pumped_volume = 0.5
command.target_pumped_volume = -0.5
command.rudder_control_mode = 1
command.target_heading = math.pi/2
command.motor_cmd_type = 1
command.target_motor_cmd = 0.01
rospy.loginfo(command)
pub.publish(command)
time.sleep(25)

print("\n----- Descend with Pitch control (Batt pos) + Buoyancy engine + Rudder control (angle)------")
command = UwGliderCommand()
command.header.stamp = rospy.Time.now()
command.pitch_cmd_type = 1
command.target_pitch_value = 0.01
command.target_pumped_volume = -0.5
command.rudder_control_mode = 1
command.target_heading = math.pi/2
command.motor_cmd_type = 1
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25 changes: 18 additions & 7 deletions glider_hybrid_whoi_ros_plugins/src/UnderwaterGPSROSPlugin.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -290,13 +290,24 @@ void GazeboRosGps::Update()
fix_.position_covariance[8] = position_error_model_.drift.z*position_error_model_.drift.z + position_error_model_.gaussian_noise.z*position_error_model_.gaussian_noise.z;
#endif

// only publish if z is >= -0.1
// if (fix_.altitude >= -0.1) {
// fix_publisher_.publish(fix_);
// velocity_publisher_.publish(velocity_);
// }
fix_publisher_.publish(fix_);
velocity_publisher_.publish(velocity_);
// Check Submergence
ignition::math::Box boundingBox = this->link->BoundingBox();
double height = boundingBox.ZLength();
double z = this->link->WorldPose().Pos().Z();
bool isSubmerged = true;

// Submerged vessel
if (z + height / 2 > 0 && z < 0)
isSubmerged = false;
else if (z + height / 2 < 0)
isSubmerged = true;

// Publish msg if on surface
if (!isSubmerged)
{
fix_publisher_.publish(fix_);
velocity_publisher_.publish(velocity_);
}
}

// Register this plugin with the simulator
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