def _log_data_log2(self, timestamp, data, logconf):
"""Callback froma the log API when data arrives"""
msg = Temperature()
# ToDo: it would be better to convert from timestamp to rospy time
msg.header.stamp = rospy.Time.now()
msg.header.frame_id = self.tf_prefix + "/base_link"
# measured in degC
msg.temperature = data["baro.temp"]
self._pubTemp.publish(msg)
# ToDo: it would be better to convert from timestamp to rospy time
msg = MagneticField()
msg.header.stamp = rospy.Time.now()
msg.header.frame_id = self.tf_prefix + "/base_link"
# measured in Tesla
msg.magnetic_field.x = data["mag.x"]
msg.magnetic_field.y = data["mag.y"]
msg.magnetic_field.z = data["mag.z"]
self._pubMag.publish(msg)
msg = Float32()
# hPa (=mbar)
msg.data = data["baro.pressure"]
self._pubPressure.publish(msg)
# V
msg.data = data["pm.vbat"]
self._pubBattery.publish(msg)
# Test
msg.data = data["test.tval"]
self._pubTest.publish(msg)
def _log_data_log2(self, timestamp, data, logconf):
"""Callback froma the log API when data arrives"""
msg = Temperature()
# ToDo: it would be better to convert from timestamp to rospy time
msg.header.stamp = rospy.Time.now()
msg.header.frame_id = self.tf_prefix + "/base_link"
# measured in degC
msg.temperature = data["baro.temp"]
self._pubTemp.publish(msg)
# ToDo: it would be better to convert from timestamp to rospy time
msg = MagneticField()
msg.header.stamp = rospy.Time.now()
msg.header.frame_id = self.tf_prefix + "/base_link"
# measured in Tesla
msg.magnetic_field.x = data["mag.x"]
msg.magnetic_field.y = data["mag.y"]
msg.magnetic_field.z = data["mag.z"]
self._pubMag.publish(msg)
msg = Float32()
# hPa (=mbar)
msg.data = data["baro.pressure"]
self._pubPressure.publish(msg)
# V
msg.data = data["pm.vbat"]
self._pubBattery.publish(msg)
def publish_variables(self, event):
t = rospy.get_time()
for var in self._variables:
pc_msg = PointCloud()
pc_msg.header.stamp = rospy.Time.now()
pc_msg.header.frame_id = 'world'
for name in self._vehicle_pos:
value = self._interpolate(var, self._vehicle_pos[name][0],
self._vehicle_pos[name][1],
self._vehicle_pos[name][2], t)
# Updating the point cloud for this variable
pc_msg.points.append(
Point32(self._vehicle_pos[name][0],
self._vehicle_pos[name][1],
self._vehicle_pos[name][2]))
pc_msg.channels.append(ChannelFloat32())
pc_msg.channels[-1].name = 'intensity'
pc_msg.channels[-1].values.append(value)
# Create the message objects
if 'temperature' in var.lower():
msg = Temperature()
msg.header.stamp = rospy.Time.now()
msg.header.frame_id = '%s/base_link' % name
# TODO Read from the unit of temperature from NC file
# Converting to Celsius
msg.temperature = value - 273.15
else:
msg = FloatStamped()
msg.header.stamp = rospy.Time.now()
msg.header.frame_id = '%s/base_link' % name
msg.data = value
self._topics[name][var].publish(msg)
self._pc_variables[var].publish(pc_msg)
return True
