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simulation/gz_bridge: use airspeed sensor msgs (#21060)

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Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
This commit is contained in:
Alejandro Hernández Cordero 2023-02-03 15:04:06 +01:00 committed by GitHub
parent f5389654c2
commit f74d67920b
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2 changed files with 5 additions and 5 deletions
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6
src/modules/simulation/gz_bridge/GZBridge.cpp
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@ -330,7 +330,7 @@ void GZBridge::clockCallback(const gz::msgs::Clock &clock)
}
void GZBridge::airpressureCallback(const gz::msgs::FluidPressure &air_pressure)
void GZBridge::airpressureCallback(const gz::msgs::AirSpeedSensor &air_pressure)
{
if (hrt_absolute_time() == 0) {
return;
@ -341,13 +341,13 @@ void GZBridge::airpressureCallback(const gz::msgs::FluidPressure &air_pressure)
const uint64_t time_us = (air_pressure.header().stamp().sec() * 1000000)
+ (air_pressure.header().stamp().nsec() / 1000);
double air_pressure_value = air_pressure.pressure();
double air_pressure_value = air_pressure.diff_pressure();
differential_pressure_s report{};
report.timestamp_sample = time_us;
report.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION
report.differential_pressure_pa = static_cast<float>(air_pressure_value); // hPa to Pa;
report.temperature = static_cast<float>(air_pressure.variance()) + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // K to C
report.temperature = static_cast<float>(air_pressure.temperature()) + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // K to C
report.timestamp = hrt_absolute_time();;
_differential_pressure_pub.publish(report);

4
src/modules/simulation/gz_bridge/GZBridge.hpp
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@ -59,7 +59,7 @@
#include <gz/msgs.hh>
#include <gz/transport.hh>
#include <gz/msgs/fluid_pressure.pb.h>
#include <gz/msgs/air_speed_sensor.pb.h>
#include <gz/msgs/imu.pb.h>
using namespace time_literals;
@ -94,7 +94,7 @@ private:
void clockCallback(const gz::msgs::Clock &clock);
void airpressureCallback(const gz::msgs::FluidPressure &air_pressure);
void airpressureCallback(const gz::msgs::AirSpeedSensor &air_pressure);
void imuCallback(const gz::msgs::IMU &imu);
void poseInfoCallback(const gz::msgs::Pose_V &pose);