gnss_conversion_node.hpp

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// Copyright 2021 Apex.AI, Inc.
//
// 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 GNSS_CONVERSION_NODES__GNSS_CONVERSION_NODE_HPP_
#define GNSS_CONVERSION_NODES__GNSS_CONVERSION_NODE_HPP_

#include <autoware_auto_msgs/msg/relative_position_with_covariance_stamped.hpp>
#include <common/types.hpp>
#include <gnss_conversion_nodes/visibility_control.hpp>
#include <rclcpp/clock.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/publisher.hpp>
#include <rclcpp/subscription.hpp>
#include <sensor_msgs/msg/nav_sat_fix.hpp>

#include <GeographicLib/Geocentric.hpp>

#include <string>
#include <memory>
#include <vector>

namespace autoware
{
namespace gnss_conversion_nodes
{

class GNSS_CONVERSION_NODE_PUBLIC GnssConversionNode : public rclcpp::Node
{
public:
  explicit GnssConversionNode(const rclcpp::NodeOptions & options);

private:
  void GNSS_CONVERSION_NODE_LOCAL nav_sat_fix_callback(
    const sensor_msgs::msg::NavSatFix::ConstSharedPtr msg) const;

  std::string m_frame_id{};
  std::string m_child_frame_id{};
  rclcpp::Publisher<
    autoware_auto_msgs::msg::RelativePositionWithCovarianceStamped>::SharedPtr m_publisher{};
  rclcpp::Subscription<sensor_msgs::msg::NavSatFix>::SharedPtr m_gnss_nav_fix_subscription{};
  std::vector<common::types::float64_t> m_override_variances_diagonal{};

  GeographicLib::Geocentric m_wgs84_to_ecef_convertor{};

  mutable rclcpp::Clock m_steady_clock{RCL_STEADY_TIME};
};

}  // namespace gnss_conversion_nodes
}  // namespace autoware

#endif  // GNSS_CONVERSION_NODES__GNSS_CONVERSION_NODE_HPP_