Merge pull request #1871 from Vladislavert/feature/optical_flow_msg

Addition of New OpticalFlow.msg

mavros_extras/CMakeLists.txt

@@ -111,6 +111,7 @@ add_library(mavros_extras_plugins SHARED
   src/plugins/obstacle_distance.cpp
   src/plugins/odom.cpp
   src/plugins/onboard_computer_status.cpp
+  src/plugins/optical_flow.cpp
   src/plugins/play_tune.cpp
   src/plugins/px4flow.cpp
   src/plugins/rangefinder.cpp

mavros_extras/mavros_plugins.xml

@@ -167,6 +167,12 @@ Publishes the status of the onboard computer
 @plugin px4flow
 
 This plugin can publish data from PX4Flow camera to ROS</description>
+  </class>
+  <class name="optical_flow" type="mavros::plugin::PluginFactoryTemplate&lt;mavros::extra_plugins::OpticalFlowPlugin&gt;" base_class_type="mavros::plugin::PluginFactory">
+    <description>@brief Optical Flow custom plugin
+@plugin optical_flow
+
+This plugin can publish data from optical flow camera to ROS</description>
   </class>
   <class name="rangefinder" type="mavros::plugin::PluginFactoryTemplate&lt;mavros::extra_plugins::RangefinderPlugin&gt;" base_class_type="mavros::plugin::PluginFactory">
     <description>@brief Ardupilot Rangefinder plugin.

mavros_extras/src/plugins/optical_flow.cpp

@@ -0,0 +1,199 @@
+/*
+ * Copyright 2023 Vladislav Chuvarjov
+ *
+ * This file is part of the mavros package and subject to the license terms
+ * in the top-level LICENSE file of the mavros repository.
+ * https://github.com/mavlink/mavros/tree/master/LICENSE.md
+ */
+/**
+ * @brief OpticalFlow plugin
+ * @file optical_flow.cpp
+ * @author Vladislav Chuvarjov <chuvarevanv@gmail.com>
+ *
+ * @addtogroup plugin
+ * @{
+ */
+
+#include <string>
+
+#include "rcpputils/asserts.hpp"
+#include "mavros/mavros_uas.hpp"
+#include "mavros/plugin.hpp"
+#include "mavros/plugin_filter.hpp"
+
+#include "mavros_msgs/msg/optical_flow.hpp"
+#include "sensor_msgs/msg/range.hpp"
+
+namespace mavros
+{
+namespace extra_plugins
+{
+using namespace std::placeholders;      // NOLINT
+
+/**
+ * @brief Optical Flow custom plugin
+ * @plugin optical_flow
+ *
+ * This plugin can publish data from OpticalFlow camera to ROS
+ */
+class OpticalFlowPlugin : public plugin::Plugin
+{
+public:
+  explicit OpticalFlowPlugin(plugin::UASPtr uas_)
+  : Plugin(uas_, "optical_flow"),
+    ranger_fov(0.0),
+    ranger_min_range(0.3),
+    ranger_max_range(5.0)
+  {
+    enable_node_watch_parameters();
+
+    node_declare_and_watch_parameter(
+      "frame_id", "optical_flow", [&](const rclcpp::Parameter & p) {
+        frame_id = p.as_string();
+      });
+
+    /**
+     * @note Default rangefinder is Maxbotix HRLV-EZ4
+     * This is a narrow beam (60cm wide at 5 meters,
+     * but also at 1 meter). 6.8 degrees at 5 meters, 31 degrees
+     * at 1 meter
+     */
+    node_declare_and_watch_parameter(
+      "ranger_fov", 0.119428926, [&](const rclcpp::Parameter & p) {
+        ranger_fov = p.as_double();
+      });
+
+    node_declare_and_watch_parameter(
+      "ranger_min_range", 0.3, [&](const rclcpp::Parameter & p) {
+        ranger_min_range = p.as_double();
+      });
+
+    node_declare_and_watch_parameter(
+      "ranger_max_range", 5.0, [&](const rclcpp::Parameter & p) {
+        ranger_max_range = p.as_double();
+      });
+
+    flow_pub = node->create_publisher<mavros_msgs::msg::OpticalFlow>(
+      "~/raw/optical_flow", 10);
+    range_pub = node->create_publisher<sensor_msgs::msg::Range>("~/ground_distance", 10);
+
+    flow_sub = node->create_subscription<mavros_msgs::msg::OpticalFlow>(
+      "~/raw/send", 1, std::bind(
+        &OpticalFlowPlugin::send_cb, this,
+        _1));
+  }
+
+  Subscriptions get_subscriptions() override
+  {
+    return {
+      make_handler(&OpticalFlowPlugin::handle_optical_flow)
+    };
+  }
+
+private:
+  std::string frame_id;
+
+  double ranger_fov;
+  double ranger_min_range;
+  double ranger_max_range;
+
+  rclcpp::Publisher<mavros_msgs::msg::OpticalFlow>::SharedPtr flow_pub;
+  rclcpp::Publisher<sensor_msgs::msg::Range>::SharedPtr range_pub;
+  rclcpp::Subscription<mavros_msgs::msg::OpticalFlow>::SharedPtr flow_sub;
+
+  void handle_optical_flow(
+    const mavlink::mavlink_message_t * msg [[maybe_unused]],
+    mavlink::common::msg::OPTICAL_FLOW & flow,
+    plugin::filter::SystemAndOk filter [[maybe_unused]])
+  {
+    auto header = uas->synchronized_header(frame_id, flow.time_usec);
+
+    /**
+     * Raw message with axes mapped to ROS conventions and temp in degrees celsius.
+     *
+     * The optical flow camera is essentially an angular sensor, so conversion is like
+     * gyroscope. (aircraft -> baselink)
+     */
+    auto int_flow = ftf::transform_frame_aircraft_baselink(
+      Eigen::Vector3d(
+        flow.flow_x,
+        flow.flow_y,
+        0.0));
+
+    auto int_flow_comp_m_xy = ftf::transform_frame_aircraft_baselink(
+      Eigen::Vector3d(
+        flow.flow_comp_m_x,
+        flow.flow_comp_m_y,
+        0.0));
+
+    auto int_flow_rate_xy = ftf::transform_frame_aircraft_baselink(
+      Eigen::Vector3d(
+        flow.flow_rate_x,
+        flow.flow_rate_y,
+        0.0));
+
+    auto flow_msg = mavros_msgs::msg::OpticalFlow();
+
+    flow_msg.header = header;
+
+    flow_msg.flow.x = int_flow.x();
+    flow_msg.flow.y = int_flow.y();
+    flow_msg.flow_comp_m.x = int_flow_comp_m_xy.x();
+    flow_msg.flow_comp_m.y = int_flow_comp_m_xy.y();
+    flow_msg.flow_rate.x = int_flow_rate_xy.x();
+    flow_msg.flow_rate.y = int_flow_rate_xy.y();
+    flow_msg.ground_distance = flow.ground_distance;
+    flow_msg.quality = flow.quality;
+
+    flow_pub->publish(flow_msg);
+
+    // Rangefinder
+    /**
+     * @todo: use distance_sensor plugin only to publish this data
+     * (which receives DISTANCE_SENSOR msg with multiple rangefinder
+     * sensors data)
+     *
+     */
+    auto range_msg = sensor_msgs::msg::Range();
+
+    range_msg.header = header;
+
+    range_msg.radiation_type = sensor_msgs::msg::Range::INFRARED;
+    range_msg.field_of_view = ranger_fov;
+    range_msg.min_range = ranger_min_range;
+    range_msg.max_range = ranger_max_range;
+    range_msg.range = flow.ground_distance;
+
+    range_pub->publish(range_msg);
+  }
+
+  void send_cb(const mavros_msgs::msg::OpticalFlow::SharedPtr msg)
+  {
+    mavlink::common::msg::OPTICAL_FLOW flow_msg = {};
+
+    auto int_flow =
+      ftf::transform_frame_baselink_aircraft(mavros::ftf::to_eigen(msg->flow));
+    auto int_flow_comp_m_xy =
+      ftf::transform_frame_baselink_aircraft(mavros::ftf::to_eigen(msg->flow_comp_m));
+    auto int_flow_rate_xy =
+      ftf::transform_frame_baselink_aircraft(mavros::ftf::to_eigen(msg->flow_rate));
+
+    flow_msg.time_usec = get_time_usec(msg->header.stamp);
+    flow_msg.sensor_id = 0;
+    flow_msg.flow_x = int_flow.x();
+    flow_msg.flow_y = int_flow.y();
+    flow_msg.flow_comp_m_x = int_flow_comp_m_xy.x();
+    flow_msg.flow_comp_m_y = int_flow_comp_m_xy.y();
+    flow_msg.quality = msg->quality;
+    flow_msg.ground_distance = msg->ground_distance;   // temperature in centi-degrees Celsius
+    flow_msg.flow_rate_x = int_flow_rate_xy.x();
+    flow_msg.flow_rate_y = int_flow_rate_xy.y();
+
+    uas->send_message(flow_msg);
+  }
+};
+}       // namespace extra_plugins
+}       // namespace mavros
+
+#include <mavros/mavros_plugin_register_macro.hpp>  // NOLINT
+MAVROS_PLUGIN_REGISTER(mavros::extra_plugins::OpticalFlowPlugin)

mavros_msgs/CMakeLists.txt

@@ -70,6 +70,7 @@ set(msg_files
   msg/NavControllerOutput.msg
   msg/OnboardComputerStatus.msg
   msg/OpticalFlowRad.msg
+  msg/OpticalFlow.msg
   msg/OverrideRCIn.msg
   msg/Param.msg
   msg/ParamEvent.msg

mavros_msgs/msg/OpticalFlow.msg

@@ -0,0 +1,9 @@
+# OPTICAL_FLOW message data
+
+std_msgs/Header header
+
+geometry_msgs/Vector3 flow
+geometry_msgs/Vector3 flow_comp_m
+uint8 quality
+float32 ground_distance
+geometry_msgs/Vector3 flow_rate