From f74d67920b0910995c4f80da647ccbe64f362f10 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Fri, 3 Feb 2023 15:04:06 +0100 Subject: [PATCH] simulation/gz_bridge: use airspeed sensor msgs (#21060) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- src/modules/simulation/gz_bridge/GZBridge.cpp | 6 +++--- src/modules/simulation/gz_bridge/GZBridge.hpp | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp index 146d03004b..ae52328b05 100644 --- a/src/modules/simulation/gz_bridge/GZBridge.cpp +++ b/src/modules/simulation/gz_bridge/GZBridge.cpp @@ -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(air_pressure_value); // hPa to Pa; - report.temperature = static_cast(air_pressure.variance()) + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // K to C + report.temperature = static_cast(air_pressure.temperature()) + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // K to C report.timestamp = hrt_absolute_time();; _differential_pressure_pub.publish(report); diff --git a/src/modules/simulation/gz_bridge/GZBridge.hpp b/src/modules/simulation/gz_bridge/GZBridge.hpp index 152d3b6b7a..bb703795ea 100644 --- a/src/modules/simulation/gz_bridge/GZBridge.hpp +++ b/src/modules/simulation/gz_bridge/GZBridge.hpp @@ -59,7 +59,7 @@ #include #include -#include +#include #include 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);