GpsLocalizer.hpp

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// Copyright 2025 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in short)
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

 
#ifndef EASYNAV_LOCALIZER__GPSLOCALIZER_HPP_
#define EASYNAV_LOCALIZER__GPSLOCALIZER_HPP_
 
#include "nav_msgs/msg/odometry.hpp"
#include "sensor_msgs/msg/nav_sat_fix.hpp"
#include "easynav_core/LocalizerMethodBase.hpp"
#include "tf2_ros/static_transform_broadcaster.hpp"
#include "sensor_msgs/msg/imu.hpp"
#include <GeographicLib/UTMUPS.hpp>
 
namespace easynav
{

class GpsLocalizer : public easynav::LocalizerMethodBase
{
public:
  GpsLocalizer() = default;

  ~GpsLocalizer() = default;

  virtual void on_initialize() override;

  virtual void update_rt(NavState & nav_state) override;

  virtual void update(NavState & nav_state) override;
 
private:
  nav_msgs::msg::Odometry odom_;

  geometry_msgs::msg::Point origin_utm_;

  rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_pub_;

  rclcpp::Subscription<sensor_msgs::msg::NavSatFix>::SharedPtr gps_subscriber_;

  rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_subscriber_;

  sensor_msgs::msg::NavSatFix gps_msg_;

  sensor_msgs::msg::Imu imu_msg_;

  std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_broadcaster_;

  void gps_callback(const sensor_msgs::msg::NavSatFix::SharedPtr msg);

  void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg);
 
  double alpha_, dt_, yaw_1_, time_1_;
};
 
}  // namespace easynav
 
#endif  // EASYNAV_LOCALIZER__GPSLOCALIZER_HPP_