def __init__(self, **kwargs):
super(ROS_GPS, self).__init__()
self.gps = GPS( )
# self.imu = IMU_Magdwick( Ts = 0.01 )
# self.imu = IMU_Mahoney( Ts = 0.01 )
self.publisher = dict(
state = rospy.Publisher('/ardrone/gps', Odometry)
)
self.subscriber = dict(
raw_gps = rospy.Subscriber('/fix', NavSatFix, callback = self.ReceiveGPS ),
)
class ROS_GPS(ROS_Object, object):
"""docstring for ROS_IMU"""
def __init__(self, **kwargs):
super(ROS_GPS, self).__init__()
self.gps = GPS( )
# self.imu = IMU_Magdwick( Ts = 0.01 )
# self.imu = IMU_Mahoney( Ts = 0.01 )
self.publisher = dict(
state = rospy.Publisher('/ardrone/gps', Odometry)
)
self.subscriber = dict(
raw_gps = rospy.Subscriber('/fix', NavSatFix, callback = self.ReceiveGPS ),
)
def ReceiveGPS(self, gps_raw):
if not self.gps.calibrated:
self.gps.set_zero(gps_raw)
self.gps.calibrated = True
self.gps.measure(gps_raw)
self.Talk()
def Talk( self ):
msg = Odometry()
msg.header.stamp = rospy.Time.now()
msg.pose.pose.position.x = self.gps.x
msg.pose.pose.position.y = self.gps.y
self.publisher['state'].publish(msg)
