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()
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()
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()
#!/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
