Merge pull request #19 from sonia-auv/develop

Develop

.vscode/settings.json

@@ -85,5 +85,6 @@
     "python.analysis.extraPaths": [
         "/home/sonia/base_lib_ws/devel/lib/python2.7/dist-packages",
         "/opt/ros/melodic/lib/python2.7/dist-packages"
-    ]
+    ],
+    "ros.distro": "noetic"
 }

launch/provider_imu_simulation.launch

@@ -0,0 +1,3 @@
+<launch>
+	<node name="provider_imu" pkg="provider_imu" type="provider_imu_sim.py" output="screen" />
+</launch>

package.xml

@@ -1,12 +1,14 @@
 <?xml version="1.0"?>
 <package>
   <name>provider_imu</name>
-  <version>1.2.3</version>
+  <version>1.2.4</version>
   <description>The provider_imu package </description>
 
   <author>Thibaut Mattio</author>
+  <author>Lucas Mongrain</author>
+  <author>Francis Alonzo</author>
 
-  <maintainer email="thibaut.mattio@gmail.com">Thibaut Mattio</maintainer>
+  <maintainer email="log.club.sonia@etsmtl.net">Software Team Leader</maintainer>
 
   <license>GPLv3</license>
 

src/provider_imu_sim.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+import rospy
+import numpy
+import struct
+import os
+
+from sonia_common.msg import *
+from sensor_msgs.msg import *
+
+def sim_imu():
+    rospy.init_node('provider_imu_simulation', anonymous=True)
+    pub = rospy.Publisher('/provider_imu/imu_info', Imu, queue_size=100)
+    rate = rospy.Rate(1)  # 10hz
+    msg = Imu()
+    while not rospy.is_shutdown():
+
+        msg.linear_acceleration.x = numpy.random.uniform(0, 1)
+        msg.linear_acceleration.y = numpy.random.uniform(0, 1)
+        msg.linear_acceleration.z = numpy.random.uniform(0, 1)
+        pub.publish(msg)
+
+        rate.sleep()
+
+if __name__ == '__main__':
+    try:
+        auv = os.getenv('LOCAL_AUV',"AUV7")
+        print("LOCAL_AUV set on : " + auv)
+        sim_imu()
+    except rospy.ROSInterruptException:
+        pass
+