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imu_cleaner/src/publish_vel_dist.py
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#!/usr/bin/env python | |
import rospy | |
from geometry_msgs.msg import Quaternion, Vector3 | |
from sensor_msgs.msg import Imu | |
from std_msgs.msg import * | |
import math | |
class VariableMaintainer: | |
def __init__(self): | |
self.time = False | |
self.velocity = [0, 0, 0] | |
self.position = [0, 0, 0] | |
def publish_velocity_distance(msg, vmaint): | |
vel_pub = rospy.Publisher('calc_velocity', Vector3) | |
pos_pub = rospy.Publisher('calc_position', Vector3) | |
if not vmaint.time: # This means this is the first run | |
vmaint.time = msg.header.stamp.secs + msg.header.stamp.nsecs * math.pow(10, -9) | |
vmaint.velocity = [0, 0, 0] | |
vmaint.position = [0, 0, 0] | |
else: | |
c_time = msg.header.stamp.secs + msg.header.stamp.nsecs * math.pow(10, -9) | |
tdelt = c_time - vmaint.time | |
accel = [msg.linear_acceleration.x, | |
msg.linear_acceleration.y, | |
msg.linear_acceleration.z] | |
map(lambda x: x * tdelt, accel) | |
vmaint.velocity = [vmaint.velocity[i] + accel[i] for i in range(3)] | |
map(lambda x: x * tdelt, accel) | |
vmaint.position = [vmaint.velocity[i] + accel[i] for i in range(3)] | |
vmaint.time = c_time | |
v = Vector3(vmaint.velocity[0], vmaint.velocity[1], vmaint.velocity[2]) | |
p = Vector3(vmaint.position[0], vmaint.position[1], vmaint.position[2]) | |
vel_pub.publish(v) | |
pos_pub.publish(p) | |
def main(): | |
# Collect first 50 entries and average them. | |
rospy.init_node("publish_vel_dist") | |
vmaint = VariableMaintainer() | |
rospy.Subscriber('clean_imu', Imu, publish_velocity_distance, vmaint) | |
rospy.spin() | |
if __name__ == '__main__': | |
main() |