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Publish /estimated_vel_mps and /estimated_vel_kmph. #30

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Sep 10, 2015
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Publish /estimated_vel_mps and /estimated_vel_kmph. #30

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14 changes: 9 additions & 5 deletions ...puting/perception/localization/packages/ndt_localizer/nodes/ndt_matching/ndt_matching.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -139,8 +139,8 @@ static std_msgs::Bool ndt_stat_msg;
static ros::Time current_scan_time;
static ros::Time previous_scan_time;
static ros::Duration scan_duration;
static ros::Publisher estimated_vel_pub;
static std_msgs::Float32 estimated_vel;
static ros::Publisher estimated_vel_mps_pub, estimated_vel_kmph_pub;
static std_msgs::Float32 estimated_vel_mps, estimated_vel_kmph;

static std::chrono::time_point<std::chrono::system_clock> matching_start, matching_end;;
static ros::Publisher time_ndt_matching_pub;
Expand Down Expand Up @@ -855,9 +855,11 @@ static void velodyne_callback(const pcl::PointCloud<velodyne_pointcloud::PointXY
scan_duration = current_scan_time - previous_scan_time;
double secs = scan_duration.toSec();
double distance = sqrt((current_pos.x - previous_pos.x) * (current_pos.x - previous_pos.x) + (current_pos.y - previous_pos.y) * (current_pos.y - previous_pos.y) + (current_pos.z - previous_pos.z) * (current_pos.z - previous_pos.z));
estimated_vel.data = distance * 3.6 / secs;
estimated_vel_mps.data = distance / secs;
estimated_vel_kmph.data = distance * 3.6 / secs;

estimated_vel_pub.publish(estimated_vel);
estimated_vel_mps_pub.publish(estimated_vel_mps);
estimated_vel_kmph_pub.publish(estimated_vel_kmph);

// Output csv
std::ofstream ofs("matching_time.csv", std::ios::app);
Expand Down Expand Up @@ -973,7 +975,9 @@ int main(int argc, char **argv)

ndt_stat_pub = nh.advertise<std_msgs::Bool>("/ndt_stat", 1000);

estimated_vel_pub = nh.advertise<std_msgs::Float32>("/estimated_vel", 1000);
estimated_vel_mps_pub = nh.advertise<std_msgs::Float32>("/estimated_vel_mps", 1000);

estimated_vel_kmph_pub = nh.advertise<std_msgs::Float32>("/estimated_vel_kmph", 1000);

time_ndt_matching_pub = nh.advertise<std_msgs::Float32>("/time_ndt_matching", 1000);

Expand Down