Exemple #1
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    def __init__(self):
        self.gm = GeoMag("../src/geomag/WMM.COF")
        rospy.init_node("declination_provider")

        self.fix = None
        self.sub = rospy.Subscriber("fix", NavSatFix, self._fix)
        self.pub = rospy.Publisher("declination", Float32, latch=True)
Exemple #2
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    def __init__(self):
        rospy.init_node("declination_provider")
        wmm_path = path.join(get_pkg_dir('declination'), "wmm", "WMM.COF")
        self.gm = GeoMag(wmm_path)

        self.fix = None
        self.sub = rospy.Subscriber("fix", NavSatFix, self._fix)
        self.pub = rospy.Publisher("declination", Float32, latch=True)
Exemple #3
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class Declination:
    def __init__(self):
        self.gm = GeoMag("../src/geomag/WMM.COF")
        rospy.init_node("declination_provider")

        self.fix = None
        self.declination = 0.0
        self.sub = rospy.Subscriber("fix", NavSatFix, self._fix)
        self.pub = rospy.Publisher("declination", Float32, latch=True)

    def _fix(self, msg):
        #if self.fix:
        #    # For now, return. Later, figure out conditions under which to recompute.
        #    return

        if msg.latitude and msg.longitude:
            self.fix = msg
            if not msg.altitude:
                msg.altitude = 0
            result = self.gm.calc(msg.latitude, msg.longitude, msg.altitude)
            if self.declination != result.dec:
                self.pub.publish(radians(result.dec))
                self.declination = result.dec

    def spin(self):
        rospy.spin()
Exemple #4
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class Compute:
    def __init__(self):
        rospy.init_node("declination_provider")
        wmm_path = path.join(get_pkg_dir('declination'), "wmm", "WMM.COF")
        self.gm = GeoMag(wmm_path)

        self.fix = None
        self.sub = rospy.Subscriber("fix", NavSatFix, self._fix)
        self.pub = rospy.Publisher("declination", Float32, latch=True)

    def _fix(self, msg):
        if self.fix:
            # For now, return. Later, figure out conditions under which to recompute.
            return

        if msg.latitude and msg.longitude:
            self.fix = msg
            if not msg.altitude: msg.altitude = 0
            result = self.gm.calc(msg.latitude, msg.longitude, msg.altitude)
            result_rad = radians(result.dec)
            self.pub.publish(result_rad) 
            rospy.loginfo("Computed magnetic declination to be %f rad (%f degrees)" \
                % (result_rad, result.dec))

    def spin(self):
        rospy.spin()
Exemple #5
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    def __init__(self):
        self.gm = GeoMag("../src/geomag/WMM.COF")
        rospy.init_node("declination_provider")

        self.fix = None
        self.sub = rospy.Subscriber("fix", NavSatFix, self._fix)
        self.pub = rospy.Publisher("declination", Float32, latch=True)
Exemple #6
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def main(name):
    script_path = os.path.dirname(os.path.abspath(__file__))
    gm = GeoMag(script_path + os.sep + 'geomag' + os.sep + 'WMM.COF')
    socket_map = generate_map(name)
    gps_socket = socket_map['gps']
    decl_socket = socket_map['decl']
    rt = RateTimer(1)
    while True:
        raw = gps_socket.recv()
        if rt.expired():
            gps = loads(raw)
            try:
                date = datetime.strptime(gps[TIME], '%Y-%m-%d %H:%M:%S').date()
                decl = gm.GeoMag(gps[LAT], gps[LON], time=date).dec
                decl_socket.send('%f' % decl)
            except:
                pass
Exemple #7
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def main(name):
   script_path = os.path.dirname(os.path.abspath(__file__))
   gm = GeoMag(script_path + os.sep + 'geomag' + os.sep + 'WMM.COF')
   socket_map = generate_map(name)
   gps_socket = socket_map['gps']
   decl_socket = socket_map['decl']
   i = 0
   while True:
      data = gps_socket.recv()
      if i == 20:
         i = 0
         gps_data = GpsData()
         gps_data.ParseFromString(data)
         if gps_data.time and gps_data.fix >= 2:
            date = datetime.strptime(gps_data.time, '%Y-%m-%d %H:%M:%S').date()
            decl = gm.GeoMag(gps_data.lat, gps_data.lon, time = date).dec
            print time(), decl
            decl_socket.send('%f' % decl)
      i += 1
Exemple #8
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class Declination:
    def __init__(self):
        self.gm = GeoMag("../src/geomag/WMM.COF")
        rospy.init_node("declination_provider")

        self.fix = None
        self.sub = rospy.Subscriber("fix", NavSatFix, self._fix)
        self.pub = rospy.Publisher("declination", Float32, latch=True)

    def _fix(msg):
        if self.fix:
            # For now, return. Later, figure out conditions under which to recompute.
            return

        if msg.latitude and msg.longitude:
            self.fix = msg
            if not msg.altitude: msg.altitude = 0
            result = self.gm.calc(msg.latitude, msg.longitude, msg.altitude)
            self.pub.publish(result.dec) 

    def spin(self):
        rospy.spin()
Exemple #9
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#!/usr/bin/python

import roslib
roslib.load_manifest('lrm_outdoor')
import rospy
from geomag.geomag import GeoMag

if __name__ == "__main__":
    rospy.init_node("test_declination")
    gm = GeoMag("../src/geomag/WMM.COF")
    #mag = gm.calc(43.411454, -80.472708)
    mag = gm.calc(-22.411454, -44.472708)
    print mag.dec
Exemple #10
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def point_declination(lat, lon):
    mag = GeoMag().GeoMag(lat, lon)
    declination = mag.dec
    return float(declination)