Moving away from custom message

Greenzie · Dec 6, 2023 · 3687999 · 3687999
1 parent d488056
commit 3687999
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Showing 4 changed files with 12 additions and 16 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -62,12 +62,6 @@ roslint_cpp()
 ###################################
 ## catkin specific configuration ##
 ###################################
-# Generate messages in the 'msg' folder
-add_message_files(
-  DIRECTORY msg
-  FILES
-    ImuBiasValidity.msg
-)
 
 add_service_files(
   FILES

diff --git a/include/robot_localization/ros_filter.h b/include/robot_localization/ros_filter.h
@@ -40,7 +40,6 @@
 
 #include <robot_localization/SetPose.h>
 #include <robot_localization/ToggleFilterProcessing.h>
-#include <robot_localization/ImuBiasValidity.h>
 
 #include <ros/ros.h>
 #include <std_msgs/Float64.h>

diff --git a/msg/ImuBiasValidity.msg b/msg/ImuBiasValidity.msg
diff --git a/src/ros_filter.cpp b/src/ros_filter.cpp
@@ -1905,7 +1905,9 @@ namespace RobotLocalization
                   boost::bind(&RosFilter<T>::imuMagnetometerValidityCallback, this, _1,
                     dynamic_correction_topic), ros::VoidPtr(),
                     ros::TransportHints().tcpNoDelay(nodelayImu)));
-              imuDataValidityPubMap_[dynamic_correction_topic] = nhLocal_.advertise<robot_localization::ImuBiasValidity>(dynamic_correction_topic+"/bias_estimator_validity", 20);
+              imuDataValidityPubMap_[dynamic_correction_topic + "_roll"] = nhLocal_.advertise<std_msgs::Bool>(dynamic_correction_topic + "/bias_estimator_validity_roll", 20);
+              imuDataValidityPubMap_[dynamic_correction_topic + "_pitch"] = nhLocal_.advertise<std_msgs::Bool>(dynamic_correction_topic + "/bias_estimator_validity_pitch", 20);
+              imuDataValidityPubMap_[dynamic_correction_topic + "_yaw"] = nhLocal_.advertise<std_msgs::Bool>(dynamic_correction_topic + "/bias_estimator_validity_yaw", 20);
 
               // Subscribe to resets as well
               topicSubs_.push_back(
@@ -3494,11 +3496,15 @@ namespace RobotLocalization
           }
 
           // publish validity of axis based on whether bias estimator updated the bias
-          robot_localization::ImuBiasValidity estimator_validity_msg;
-          estimator_validity_msg.roll = is_bias_valid[0];
-          estimator_validity_msg.pitch =  is_bias_valid[1];
-          estimator_validity_msg.yaw =  is_bias_valid[2];
-          imuDataValidityPubMap_[topicName].publish(estimator_validity_msg);
+          std_msgs::Bool estimator_validity_msg;
+          estimator_validity_msg.data = is_bias_valid[0];
+          imuDataValidityPubMap_[topicName + "_roll"].publish(estimator_validity_msg);
+
+          estimator_validity_msg.data = is_bias_valid[1];
+          imuDataValidityPubMap_[topicName + "_pitch"].publish(estimator_validity_msg);
+
+          estimator_validity_msg.data = is_bias_valid[2];
+          imuDataValidityPubMap_[topicName + "_yaw"].publish(estimator_validity_msg);
 
           if(can_update == true)
           {