├── AndroidManifest.xml
├── README
├── build.gradle
├── build.xml
├── buildAll.sh
├── local.properties
├── mainpage.dox
├── manifest.xml
├── proguard-project.txt
├── project.properties
├── res
    ├── layout
    │   └── main.xml
    └── values
    │   └── strings.xml
└── src
    └── org
        └── ros
            └── android
                └── android_sensors_driver
                    ├── ImuPublisher.java
                    ├── MainActivity.java
                    └── NavSatFixPublisher.java


/AndroidManifest.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="utf-8"?>
 2 | <manifest xmlns:android="http://schemas.android.com/apk/res/android"
 3 |     package="org.ros.android.android_sensors_driver"
 4 |     android:versionCode="1"
 5 |     android:versionName="1.0" >
 6 | 
 7 |     <uses-sdk android:minSdkVersion="10" />
 8 | 
 9 |     <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
10 |     <uses-permission android:name="android.permission.CHANGE_WIFI_STATE" />
11 |     <uses-permission android:name="android.permission.INTERNET" />
12 |     <uses-permission android:name="android.permission.WAKE_LOCK" />
13 |     <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
14 |     <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
15 | 
16 |     <application
17 |         android:icon="@drawable/icon"
18 |         android:label="@string/app_name">
19 | <!--         android:debuggable="true" -->
20 |         <activity
21 |             android:name="org.ros.android.android_sensors_driver.MainActivity"
22 |             android:configChanges="orientation|keyboardHidden"
23 |             android:label="@string/app_name"
24 |             android:screenOrientation="landscape" >
25 |             <intent-filter>
26 |                 <action android:name="android.intent.action.MAIN" />
27 | 
28 |                 <category android:name="android.intent.category.LAUNCHER" />
29 |             </intent-filter>
30 |         </activity>
31 |         <activity android:name="org.ros.android.MasterChooser" />
32 | 
33 |         <service android:name="org.ros.android.NodeMainExecutorService" />
34 |     </application>
35 | 
36 | </manifest>
37 | 


--------------------------------------------------------------------------------
/README:
--------------------------------------------------------------------------------
 1 | Authors:
 2 |  chadrockey@gmail.com (Chad Rockey)
 3 |  axelfurlan@gmail.com (Axel Furlan)
 4 | 
 5 | This is an extension to the first version of the Ros Android Sensors Driver.
 6 | It extends the driver to camera readings and updates the previous version to the post-gradle shift of the rosjava libs.
 7 | Two compression methods are currently supported, PNG and JPEG (with selectable compression quality).
 8 | The topic names are:
 9 | 
10 |  /android/imu
11 |  /android/fix (GPS)
12 |  /camera/camera_info
13 |  /camera/image/compressed
14 | 
15 | 
16 | 
17 | 
18 | Compiling:
19 | 
20 | To compile it on you machine, please follow the detailed instructions at:
21 | 
22 | Rosjava:
23 |  http://www.dobots.nl/blog/-/blogs/android-and-rosjava
24 | 
25 | Once your environment is set, do the following steps:
26 |  1) git clone the repo in the android_core folder (the same folder where tutorials are).
27 |  2) Edit the settings.gradle file in the android_core folder, adding 'android_sensors_driver' at the end of the include list.
28 |  3) cd android_sensors_driver; ../gradlew clean debug
29 | 
30 | For the whole process of building, packing, installing into the phone and running the app in debug mode, use the buildAll.sh script.


--------------------------------------------------------------------------------
/build.gradle:
--------------------------------------------------------------------------------
 1 | /*
 2 |  * Copyright (C) 2011 Google Inc.
 3 |  *
 4 |  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 5 |  * use this file except in compliance with the License. You may obtain a copy of
 6 |  * the License at
 7 |  *
 8 |  * http://www.apache.org/licenses/LICENSE-2.0
 9 |  *
10 |  * Unless required by applicable law or agreed to in writing, software
11 |  * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
12 |  * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
13 |  * License for the specific language governing permissions and limitations under
14 |  * the License.
15 |  */
16 | 
17 | dependencies {
18 |   compile 'ros.rosjava_core:rosjava_tutorial_pubsub:0.0.0-SNAPSHOT'
19 | }
20 | 
21 | 
22 | debug.dependsOn project(':android_gingerbread_mr1').tasks.debug
23 | 
24 | 


--------------------------------------------------------------------------------
/build.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="UTF-8"?>
 2 | <project name="MainActivity" default="help">
 3 | 
 4 |     <!-- The local.properties file is created and updated by the 'android' tool.
 5 |          It contains the path to the SDK. It should *NOT* be checked into
 6 |          Version Control Systems. -->
 7 |     <property file="local.properties" />
 8 | 
 9 |     <!-- The ant.properties file can be created by you. It is only edited by the
10 |          'android' tool to add properties to it.
11 |          This is the place to change some Ant specific build properties.
12 |          Here are some properties you may want to change/update:
13 | 
14 |          source.dir
15 |              The name of the source directory. Default is 'src'.
16 |          out.dir
17 |              The name of the output directory. Default is 'bin'.
18 | 
19 |          For other overridable properties, look at the beginning of the rules
20 |          files in the SDK, at tools/ant/build.xml
21 | 
22 |          Properties related to the SDK location or the project target should
23 |          be updated using the 'android' tool with the 'update' action.
24 | 
25 |          This file is an integral part of the build system for your
26 |          application and should be checked into Version Control Systems.
27 | 
28 |          -->
29 |     <property file="ant.properties" />
30 | 
31 |     <!-- The project.properties file is created and updated by the 'android'
32 |          tool, as well as ADT.
33 | 
34 |          This contains project specific properties such as project target, and library
35 |          dependencies. Lower level build properties are stored in ant.properties
36 |          (or in .classpath for Eclipse projects).
37 | 
38 |          This file is an integral part of the build system for your
39 |          application and should be checked into Version Control Systems. -->
40 |     <loadproperties srcFile="project.properties" />
41 | 
42 |     <!-- quick check on sdk.dir -->
43 |     <fail
44 |             message="sdk.dir is missing. Make sure to generate local.properties using 'android update project' or to inject it through an env var"
45 |             unless="sdk.dir"
46 |     />
47 | 
48 |     <!--
49 |         Import per project custom build rules if present at the root of the project.
50 |         This is the place to put custom intermediary targets such as:
51 |             -pre-build
52 |             -pre-compile
53 |             -post-compile (This is typically used for code obfuscation.
54 |                            Compiled code location: ${out.classes.absolute.dir}
55 |                            If this is not done in place, override ${out.dex.input.absolute.dir})
56 |             -post-package
57 |             -post-build
58 |             -pre-clean
59 |     -->
60 |     <import file="custom_rules.xml" optional="true" />
61 | 
62 |     <!-- Import the actual build file.
63 | 
64 |          To customize existing targets, there are two options:
65 |          - Customize only one target:
66 |              - copy/paste the target into this file, *before* the
67 |                <import> task.
68 |              - customize it to your needs.
69 |          - Customize the whole content of build.xml
70 |              - copy/paste the content of the rules files (minus the top node)
71 |                into this file, replacing the <import> task.
72 |              - customize to your needs.
73 | 
74 |          ***********************
75 |          ****** IMPORTANT ******
76 |          ***********************
77 |          In all cases you must update the value of version-tag below to read 'custom' instead of an integer,
78 |          in order to avoid having your file be overridden by tools such as "android update project"
79 |     -->
80 |     <!-- version-tag: 1 -->
81 |     <import file="${sdk.dir}/tools/ant/build.xml" />
82 | 
83 | </project>
84 | 


--------------------------------------------------------------------------------
/buildAll.sh:
--------------------------------------------------------------------------------
 1 | # Bash
 2 | 
 3 | ../gradlew clean debug
 4 | if [ $? -eq 0 ]
 5 |  then
 6 |   adb uninstall org.ros.android.android_sensors_driver
 7 |   adb install bin/MainActivity-debug.apk
 8 |   adb shell am start -n org.ros.android.android_sensors_driver/org.ros.android.android_sensors_driver.MainActivity
 9 |   adb logcat -c
10 |   adb logcat
11 | fi
12 | 


--------------------------------------------------------------------------------
/local.properties:
--------------------------------------------------------------------------------
 1 | # This file is automatically generated by Android Tools.
 2 | # Do not modify this file -- YOUR CHANGES WILL BE ERASED!
 3 | #
 4 | # This file must *NOT* be checked into Version Control Systems,
 5 | # as it contains information specific to your local configuration.
 6 | 
 7 | # location of the SDK. This is only used by Ant
 8 | # For customization when using a Version Control System, please read the
 9 | # header note.
10 | sdk.dir=/home/willow/NVPACK/android-sdk-linux
11 | 


--------------------------------------------------------------------------------
/mainpage.dox:
--------------------------------------------------------------------------------
 1 | /**
 2 | \mainpage
 3 | \htmlinclude manifest.html
 4 | 
 5 | \b android_sensors_driver is ...
 6 | 
 7 | <!--
 8 | Provide an overview of your package.
 9 | -->
10 | 
11 | 
12 | \section codeapi Code API
13 | 
14 | <!--
15 | Provide links to specific auto-generated API documentation within your
16 | package that is of particular interest to a reader. Doxygen will
17 | document pretty much every part of your code, so do your best here to
18 | point the reader to the actual API.
19 | 
20 | If your codebase is fairly large or has different sets of APIs, you
21 | should use the doxygen 'group' tag to keep these APIs together. For
22 | example, the roscpp documentation has 'libros' group.
23 | -->
24 | 
25 | 
26 | */
27 | 


--------------------------------------------------------------------------------
/manifest.xml:
--------------------------------------------------------------------------------
 1 | <package>
 2 |   <description brief="android_sensors_driver">
 3 |      android_sensors_driver
 4 |   </description>
 5 |   <author>Chad Rockey (chadrockey@gmail.com)</author>
 6 |   <license>Apache 2.0</license>
 7 |   <review status="unreviewed" notes="" />
 8 |   <url>http://ros.org/wiki/android_sensors_driver</url>
 9 | </package>
10 | 


--------------------------------------------------------------------------------
/proguard-project.txt:
--------------------------------------------------------------------------------
 1 | # To enable ProGuard in your project, edit project.properties
 2 | # to define the proguard.config property as described in that file.
 3 | #
 4 | # Add project specific ProGuard rules here.
 5 | # By default, the flags in this file are appended to flags specified
 6 | # in ${sdk.dir}/tools/proguard/proguard-android.txt
 7 | # You can edit the include path and order by changing the ProGuard
 8 | # include property in project.properties.
 9 | #
10 | # For more details, see
11 | #   http://developer.android.com/guide/developing/tools/proguard.html
12 | 
13 | # Add any project specific keep options here:
14 | 
15 | # If your project uses WebView with JS, uncomment the following
16 | # and specify the fully qualified class name to the JavaScript interface
17 | # class:
18 | #-keepclassmembers class fqcn.of.javascript.interface.for.webview {
19 | #   public *;
20 | #}
21 | 


--------------------------------------------------------------------------------
/project.properties:
--------------------------------------------------------------------------------
 1 | # This file is automatically generated by Android Tools.
 2 | # Do not modify this file -- YOUR CHANGES WILL BE ERASED!
 3 | #
 4 | # This file must be checked in Version Control Systems.
 5 | #
 6 | # To customize properties used by the Ant build system use,
 7 | # "ant.properties", and override values to adapt the script to your
 8 | # project structure.
 9 | 
10 | # Project target.
11 | target=android-13
12 | #android.library=true
13 | android.library.reference.1=../android_gingerbread_mr1
14 | android.library.reference.2=../../OpenCV-2.4.2-android-sdk/sdk/java
15 | 


--------------------------------------------------------------------------------
/res/layout/main.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="utf-8"?>
 2 | <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
 3 |     android:layout_width="fill_parent"
 4 |     android:layout_height="fill_parent"
 5 |     android:orientation="vertical" >
 6 | 
 7 |     <org.ros.android.view.camera.RosCameraPreviewView
 8 |         android:id="@+id/ros_camera_preview_view"
 9 |         android:layout_width="fill_parent"
10 |         android:layout_height="fill_parent" />
11 |     
12 |         <org.ros.android.view.RosTextView
13 |         android:id="@+id/text"
14 |         android:layout_width="fill_parent"
15 |         android:layout_height="wrap_content"
16 |         android:textSize="30dip" />
17 | 
18 | </LinearLayout>


--------------------------------------------------------------------------------
/res/values/strings.xml:
--------------------------------------------------------------------------------
1 | <?xml version="1.0" encoding="utf-8"?>
2 | <resources>
3 |     <string name="app_name">ROS Android Sensors Driver</string>
4 | </resources>
5 | 


--------------------------------------------------------------------------------
/src/org/ros/android/android_sensors_driver/ImuPublisher.java:
--------------------------------------------------------------------------------
  1 | /*
  2 |  * Copyright (c) 2011, Chad Rockey
  3 |  * All rights reserved.
  4 |  *
  5 |  * Redistribution and use in source and binary forms, with or without
  6 |  * modification, are permitted provided that the following conditions are met:
  7 |  *
  8 |  *     * Redistributions of source code must retain the above copyright
  9 |  *       notice, this list of conditions and the following disclaimer.
 10 |  *     * Redistributions in binary form must reproduce the above copyright
 11 |  *       notice, this list of conditions and the following disclaimer in the
 12 |  *       documentation and/or other materials provided with the distribution.
 13 |  *     * Neither the name of the Android Sensors Driver nor the names of its
 14 |  *       contributors may be used to endorse or promote products derived from
 15 |  *       this software without specific prior written permission.
 16 |  *
 17 |  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 18 |  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 19 |  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 20 |  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 21 |  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 22 |  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 23 |  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 24 |  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 25 |  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 26 |  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 27 |  * POSSIBILITY OF SUCH DAMAGE.
 28 |  */
 29 | 
 30 | package org.ros.android.android_sensors_driver;
 31 | 
 32 | 
 33 | import java.util.List;
 34 | 
 35 | import android.hardware.Sensor;
 36 | import android.hardware.SensorEvent;
 37 | import android.hardware.SensorEventListener;
 38 | import android.hardware.SensorManager;
 39 | import android.os.Looper;
 40 | import android.os.SystemClock;
 41 | 
 42 | import org.ros.node.ConnectedNode;
 43 | import org.ros.message.Time;
 44 | import org.ros.namespace.GraphName;
 45 | import sensor_msgs.Imu;
 46 | import org.ros.node.Node;
 47 | import org.ros.node.NodeMain;
 48 | import org.ros.node.topic.Publisher;
 49 | 
 50 | /**
 51 |  * @author chadrockey@gmail.com (Chad Rockey)
 52 |  * @author axelfurlan@gmail.com (Axel Furlan)
 53 |  */
 54 | public class ImuPublisher implements NodeMain
 55 | {
 56 | 
 57 |   private ImuThread imuThread;
 58 |   private SensorListener sensorListener;
 59 |   private SensorManager sensorManager;
 60 |   private Publisher<Imu> publisher;
 61 |   
 62 |   private class ImuThread extends Thread
 63 |   {
 64 | 	  private final SensorManager sensorManager;
 65 | 	  private SensorListener sensorListener;
 66 | 	  private Looper threadLooper;
 67 | 	  
 68 | 	  private final Sensor accelSensor;
 69 | 	  private final Sensor gyroSensor;
 70 | 	  private final Sensor quatSensor;
 71 | 	  
 72 | 	  private ImuThread(SensorManager sensorManager, SensorListener sensorListener)
 73 | 	  {
 74 | 		  this.sensorManager = sensorManager;
 75 | 		  this.sensorListener = sensorListener;
 76 | 		  this.accelSensor = this.sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
 77 | 		  this.gyroSensor = this.sensorManager.getDefaultSensor(Sensor.TYPE_GYROSCOPE);
 78 | 		  this.quatSensor = this.sensorManager.getDefaultSensor(Sensor.TYPE_ROTATION_VECTOR);
 79 | 	  }
 80 | 	  
 81 | 	    
 82 | 	  public void run()
 83 | 	  {
 84 | 			Looper.prepare();
 85 | 			this.threadLooper = Looper.myLooper();
 86 | 			this.sensorManager.registerListener(this.sensorListener, this.accelSensor, SensorManager.SENSOR_DELAY_FASTEST);
 87 | 			this.sensorManager.registerListener(this.sensorListener, this.gyroSensor, SensorManager.SENSOR_DELAY_FASTEST);
 88 | 			this.sensorManager.registerListener(this.sensorListener, this.quatSensor, SensorManager.SENSOR_DELAY_FASTEST);
 89 | 			Looper.loop();
 90 | 	  }
 91 | 	    
 92 | 	    
 93 | 	  public void shutdown()
 94 | 	  {
 95 | 	    	this.sensorManager.unregisterListener(this.sensorListener);
 96 | 	    	if(this.threadLooper != null)
 97 | 	    	{
 98 | 	            this.threadLooper.quit();
 99 | 	    	}
100 | 	  }
101 | 	}
102 |   
103 |   private class SensorListener implements SensorEventListener
104 |   {
105 | 
106 |     private Publisher<Imu> publisher;
107 |     
108 |     private boolean hasAccel;
109 |     private boolean hasGyro;
110 |     private boolean hasQuat;
111 |     
112 |     private long accelTime;
113 |     private long gyroTime;
114 |     private long quatTime;
115 |     
116 |     private Imu imu;
117 | 
118 |     private SensorListener(Publisher<Imu> publisher, boolean hasAccel, boolean hasGyro, boolean hasQuat)
119 |     {
120 |       this.publisher = publisher;
121 |       this.hasAccel = hasAccel;
122 |       this.hasGyro = hasGyro;
123 |       this.hasQuat = hasQuat;
124 |       this.accelTime = 0;
125 |       this.gyroTime = 0;
126 |       this.quatTime = 0;
127 |       this.imu = this.publisher.newMessage();
128 |     }
129 | 
130 | //	@Override
131 | 	public void onAccuracyChanged(Sensor sensor, int accuracy)
132 | 	{
133 | 	}
134 | 
135 | //	@Override
136 | 	public void onSensorChanged(SensorEvent event)
137 | 	{
138 | 		if(event.sensor.getType() == Sensor.TYPE_ACCELEROMETER)
139 | 		{
140 | 			this.imu.getLinearAcceleration().setX(event.values[0]);
141 | 			this.imu.getLinearAcceleration().setY(event.values[1]);
142 | 			this.imu.getLinearAcceleration().setZ(event.values[2]);
143 | 			
144 | 			double[] tmpCov = {0.01,0,0, 0,0.01,0, 0,0,0.01};// TODO Make Parameter
145 | 			this.imu.setLinearAccelerationCovariance(tmpCov);
146 | 			this.accelTime = event.timestamp;
147 | 		}
148 | 		else if(event.sensor.getType() == Sensor.TYPE_GYROSCOPE)
149 | 		{
150 | 			this.imu.getAngularVelocity().setX(event.values[0]);
151 | 			this.imu.getAngularVelocity().setY(event.values[1]);
152 | 			this.imu.getAngularVelocity().setZ(event.values[2]);
153 | 			double[] tmpCov = {0.0025,0,0, 0,0.0025,0, 0,0,0.0025};// TODO Make Parameter
154 | 			this.imu.setAngularVelocityCovariance(tmpCov);
155 | 	        this.gyroTime = event.timestamp;
156 | 		}
157 | 		else if(event.sensor.getType() == Sensor.TYPE_ROTATION_VECTOR)
158 | 		{
159 | 	        float[] quaternion = new float[4];
160 | 	        SensorManager.getQuaternionFromVector(quaternion, event.values);
161 | 	        this.imu.getOrientation().setW(quaternion[0]);
162 | 	        this.imu.getOrientation().setX(quaternion[1]);
163 | 	        this.imu.getOrientation().setY(quaternion[2]);
164 | 	        this.imu.getOrientation().setZ(quaternion[3]);
165 | 			double[] tmpCov = {0.001,0,0, 0,0.001,0, 0,0,0.001};// TODO Make Parameter
166 | 			this.imu.setOrientationCovariance(tmpCov);
167 | 	       	this.quatTime = event.timestamp;
168 | 		}
169 | 		
170 | 		// Currently storing event times in case I filter them in the future.  Otherwise they are used to determine if all sensors have reported.
171 | 		if((this.accelTime != 0 || !this.hasAccel) && (this.gyroTime != 0 || !this.hasGyro) && (this.quatTime != 0 || !this.hasQuat))
172 | 		{
173 | 			// Convert event.timestamp (nanoseconds uptime) into system time, use that as the header stamp
174 | 			long time_delta_millis = System.currentTimeMillis() - SystemClock.uptimeMillis();
175 | 			this.imu.getHeader().setStamp(Time.fromMillis(time_delta_millis + event.timestamp/1000000));
176 | 			this.imu.getHeader().setFrameId("/imu");// TODO Make parameter
177 | 			
178 | 			publisher.publish(this.imu);
179 | 
180 | 			// Create a new message
181 | 			this.imu = this.publisher.newMessage();
182 | 			
183 | 			// Reset times
184 | 			this.accelTime = 0;
185 | 			this.gyroTime = 0;
186 | 			this.quatTime = 0;
187 | 		}
188 | 	}
189 |   }
190 | 
191 |   
192 |   public ImuPublisher(SensorManager manager)
193 |   {
194 | 	  this.sensorManager = manager;
195 |   }
196 | 
197 |   public GraphName getDefaultNodeName()
198 |   {
199 | 	    return GraphName.of("android_sensors_driver/imuPublisher");
200 |   }
201 |   
202 |   public void onError(Node node, Throwable throwable)
203 |   {
204 |   }
205 | 
206 |   public void onStart(ConnectedNode node)
207 |   {
208 | 	  try
209 | 	  {
210 | 			this.publisher = node.newPublisher("android/imu", "sensor_msgs/Imu");
211 | 			// 	Determine if we have the various needed sensors
212 | 			boolean hasAccel = false;
213 | 			boolean hasGyro = false;
214 | 			boolean hasQuat = false;
215 | 	
216 | 			List<Sensor> accelList = this.sensorManager.getSensorList(Sensor.TYPE_ACCELEROMETER);
217 | 			
218 | 			if(accelList.size() > 0)
219 | 			{
220 | 				hasAccel = true;
221 | 			}
222 | 			
223 | 			List<Sensor> gyroList = this.sensorManager.getSensorList(Sensor.TYPE_GYROSCOPE);
224 | 			if(gyroList.size() > 0)
225 | 			{
226 | 				hasGyro = true;
227 | 			}
228 | 			
229 | 			List<Sensor> quatList = this.sensorManager.getSensorList(Sensor.TYPE_ROTATION_VECTOR);
230 | 			if(quatList.size() > 0)
231 | 			{
232 | 				hasQuat = true;
233 | 			}
234 | 			
235 | 			this.sensorListener = new SensorListener(publisher, hasAccel, hasGyro, hasQuat);
236 | 			this.imuThread = new ImuThread(this.sensorManager, sensorListener);
237 | 			this.imuThread.start();		
238 | 	  }
239 | 	  catch (Exception e)
240 | 	  {
241 | 		  if (node != null)
242 | 		  {
243 | 			  node.getLog().fatal(e);
244 | 		  }
245 | 		  else
246 | 		  {
247 | 			  e.printStackTrace();
248 | 		  }
249 | 	  }
250 |   }
251 | 
252 | //@Override
253 |   public void onShutdown(Node arg0)
254 |   {
255 | 	  this.imuThread.shutdown();
256 | 	
257 | 	  try
258 | 	  {
259 | 		  this.imuThread.join();
260 | 	  }
261 | 	  catch (InterruptedException e)
262 | 	  {
263 | 		  e.printStackTrace();
264 | 	  }
265 |   }
266 | 
267 | //@Override
268 |   public void onShutdownComplete(Node arg0)
269 |   {
270 |   }
271 | 
272 | }
273 | 
274 | 


--------------------------------------------------------------------------------
/src/org/ros/android/android_sensors_driver/MainActivity.java:
--------------------------------------------------------------------------------
  1 | /*
  2 |  * Copyright (C) 2011 Google Inc.
  3 |  * 
  4 |  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
  5 |  * use this file except in compliance with the License. You may obtain a copy of
  6 |  * the License at
  7 |  * 
  8 |  * http://www.apache.org/licenses/LICENSE-2.0
  9 |  * 
 10 |  * Unless required by applicable law or agreed to in writing, software
 11 |  * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 12 |  * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 13 |  * License for the specific language governing permissions and limitations under
 14 |  * the License.
 15 |  */
 16 | 
 17 | package org.ros.android.android_sensors_driver;
 18 | 
 19 | import android.content.Context;
 20 | import android.hardware.SensorManager;
 21 | import android.location.LocationManager;
 22 | import android.os.Bundle;
 23 | import android.util.Log;
 24 | import android.view.Menu;
 25 | import android.view.MenuItem;
 26 | import android.view.SubMenu;
 27 | import android.view.Window;
 28 | import android.view.WindowManager;
 29 | import org.ros.address.InetAddressFactory;
 30 | import org.ros.android.RosActivity;
 31 | import org.ros.node.NodeConfiguration;
 32 | import org.ros.node.NodeMainExecutor;
 33 | 
 34 | /**
 35 |  * @author chadrockey@gmail.com (Chad Rockey)
 36 |  * @author axelfurlan@gmail.com (Axel Furlan)
 37 |  */
 38 | 
 39 | 
 40 | public class MainActivity extends RosActivity
 41 | {
 42 |   
 43 |   
 44 |   private NavSatFixPublisher fix_pub;
 45 |   private ImuPublisher imu_pub;
 46 |   
 47 |   private LocationManager mLocationManager;
 48 |   private SensorManager mSensorManager;
 49 |   
 50 | 
 51 |   public MainActivity()
 52 |   {
 53 | 	  super("Ros Android Sensors Driver", "Ros Android Sensors Driver");
 54 |   }
 55 |   
 56 |   @Override
 57 |   protected void onPause()
 58 |   {
 59 | 	  super.onPause();
 60 |   }
 61 |   
 62 |   @Override
 63 |   protected void onCreate(Bundle savedInstanceState)
 64 |   {
 65 | 	  super.onCreate(savedInstanceState);
 66 | 	  //requestWindowFeature(Window.FEATURE_NO_TITLE);
 67 | 	  //getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN);
 68 | 	  setContentView(R.layout.main);
 69 | 	  
 70 | 	  mLocationManager = (LocationManager)this.getSystemService(Context.LOCATION_SERVICE);
 71 | 	  mSensorManager = (SensorManager)this.getSystemService(SENSOR_SERVICE);
 72 |   }
 73 |   
 74 |   @Override
 75 |   protected void onResume()
 76 |   {
 77 | 		super.onResume();
 78 | 	}
 79 | 
 80 |   @Override
 81 |   public boolean onCreateOptionsMenu(Menu menu) {
 82 | 
 83 | 	  /*SubMenu subPreview = menu.addSubMenu("Color settings");
 84 |       subPreview.add(1,VIEW_MODE_RGBA,0,"RGB Color").setChecked(true);
 85 |       subPreview.add(1,VIEW_MODE_GRAY,0,"Grayscale");
 86 |       subPreview.add(1,VIEW_MODE_CANNY,0,"Canny edges");
 87 |       subPreview.setGroupCheckable(1, true, true);
 88 |       
 89 |       SubMenu subCompression = menu.addSubMenu("Compression");
 90 | //      subCompression.add(2,IMAGE_TRANSPORT_COMPRESSION_NONE,0,"None");
 91 |       subCompression.add(2,IMAGE_TRANSPORT_COMPRESSION_PNG,0,"Png");
 92 |       
 93 |       SubMenu subCompressionRate = subCompression.addSubMenu(2,IMAGE_TRANSPORT_COMPRESSION_JPEG,0,"Jpeg");
 94 |       subCompression.setGroupCheckable(2, true, true);
 95 |       subCompressionRate.setHeaderTitle("Compression quality");
 96 |       subCompressionRate.getItem().setChecked(true);
 97 |       subCompressionRate.add(3,50,0,"50");
 98 |       subCompressionRate.add(3,60,0,"60");
 99 |       subCompressionRate.add(3,70,0,"70");
100 |       subCompressionRate.add(3,80,0,"80").setChecked(true);
101 |       subCompressionRate.add(3,90,0,"90");
102 |       subCompressionRate.add(3,100,0,"100");
103 |       subCompressionRate.setGroupCheckable(3, true, true);*/
104 | 
105 |       return true;
106 |   }
107 | 
108 |   @Override
109 |   public boolean onOptionsItemSelected(MenuItem item)
110 |   {      
111 |       /*if(item.getGroupId() == 1)
112 |       {
113 |     	  viewMode = item.getItemId();
114 |     	  item.setChecked(true);
115 |       }
116 |       
117 |       if(item.getGroupId() == 2)
118 |       {
119 |     	  imageCompression = item.getItemId();
120 |     	  item.setChecked(true);
121 |       }
122 |       
123 |       if(item.getGroupId() == 3)
124 |       {
125 |     	  imageCompressionQuality = item.getItemId();
126 |     	  item.setChecked(true);
127 |       }*/
128 |       return true;
129 |   }
130 | 
131 |   @Override
132 |   protected void init(NodeMainExecutor nodeMainExecutor)
133 |   {	  
134 |     NodeConfiguration nodeConfiguration2 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
135 |     nodeConfiguration2.setMasterUri(getMasterUri());
136 |     nodeConfiguration2.setNodeName("android_sensors_driver_nav_sat_fix");
137 |     this.fix_pub = new NavSatFixPublisher(mLocationManager);
138 |     nodeMainExecutor.execute(this.fix_pub, nodeConfiguration2);
139 | 	  
140 |     NodeConfiguration nodeConfiguration3 = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
141 |     nodeConfiguration3.setMasterUri(getMasterUri());
142 |     nodeConfiguration3.setNodeName("android_sensors_driver_imu");
143 |     this.imu_pub = new ImuPublisher(mSensorManager);
144 |     nodeMainExecutor.execute(this.imu_pub, nodeConfiguration3);
145 |     
146 |   }
147 | }
148 | 


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/src/org/ros/android/android_sensors_driver/NavSatFixPublisher.java:
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  1 | /*
  2 |  * Copyright (c) 2011, Chad Rockey
  3 |  * All rights reserved.
  4 |  *
  5 |  * Redistribution and use in source and binary forms, with or without
  6 |  * modification, are permitted provided that the following conditions are met:
  7 |  *
  8 |  *     * Redistributions of source code must retain the above copyright
  9 |  *       notice, this list of conditions and the following disclaimer.
 10 |  *     * Redistributions in binary form must reproduce the above copyright
 11 |  *       notice, this list of conditions and the following disclaimer in the
 12 |  *       documentation and/or other materials provided with the distribution.
 13 |  *     * Neither the name of the Android Sensors Driver nor the names of its
 14 |  *       contributors may be used to endorse or promote products derived from
 15 |  *       this software without specific prior written permission.
 16 |  *
 17 |  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 18 |  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 19 |  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 20 |  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 21 |  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 22 |  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 23 |  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 24 |  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 25 |  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 26 |  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 27 |  * POSSIBILITY OF SUCH DAMAGE.
 28 |  */
 29 | 
 30 | package org.ros.android.android_sensors_driver;
 31 | 
 32 | import android.location.Location;
 33 | import android.location.LocationListener;
 34 | import android.location.LocationManager;
 35 | import android.location.LocationProvider;
 36 | import android.os.Bundle;
 37 | import android.os.Looper;
 38 | 
 39 | import org.ros.namespace.GraphName;
 40 | import org.ros.node.ConnectedNode;
 41 | import org.ros.message.Time;
 42 | import sensor_msgs.NavSatFix;
 43 | import sensor_msgs.NavSatStatus;
 44 | import org.ros.node.Node;
 45 | import org.ros.node.NodeMain;
 46 | import org.ros.node.topic.Publisher;
 47 | 
 48 | /**
 49 |  * @author chadrockey@gmail.com (Chad Rockey)
 50 |  * @author axelfurlan@gmail.com (Axel Furlan)
 51 |  */
 52 | public class NavSatFixPublisher implements NodeMain {
 53 | 
 54 |   private NavSatThread navSatThread;
 55 |   private LocationManager locationManager;
 56 |   private NavSatListener navSatFixListener;
 57 |   private Publisher<NavSatFix> publisher;
 58 |   
 59 |   private class NavSatThread extends Thread {
 60 | 	  LocationManager locationManager;
 61 | 	  NavSatListener navSatListener;
 62 | 	  private Looper threadLooper;
 63 | 	  
 64 | 	  private NavSatThread(LocationManager locationManager, NavSatListener navSatListener){
 65 | 		  this.locationManager = locationManager;
 66 | 		  this.navSatListener = navSatListener;
 67 | 	  }
 68 | 	  
 69 | 	    public void run() {
 70 | 	    	Looper.prepare();
 71 | 	    	threadLooper = Looper.myLooper();
 72 | 	    	this.locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 0, 0, this.navSatListener);
 73 | 	    	Looper.loop();
 74 | 	    }
 75 | 	    
 76 | 	    public void shutdown(){
 77 | 	    	this.locationManager.removeUpdates(this.navSatListener);
 78 | 	    	if(threadLooper != null){
 79 | 	            threadLooper.quit();
 80 | 	    	}
 81 | 	    }
 82 | 	}
 83 |   
 84 |   private class NavSatListener implements LocationListener {
 85 | 
 86 |     private Publisher<NavSatFix> publisher;
 87 | 
 88 |     private volatile byte currentStatus;
 89 | 
 90 |     private NavSatListener(Publisher<NavSatFix> publisher) {
 91 |       this.publisher = publisher;
 92 |       this.currentStatus = NavSatStatus.STATUS_FIX; // Default to fix until we are told otherwise.
 93 |     }
 94 | 
 95 | //	@Override
 96 | 	public void onLocationChanged(Location location)
 97 | 	{
 98 | 		NavSatFix fix = this.publisher.newMessage();
 99 | 		fix.getHeader().setStamp(Time.fromMillis(System.currentTimeMillis()));
100 | 		fix.getHeader().setFrameId("/gps");
101 | 		
102 | 		fix.getStatus().setStatus(currentStatus);
103 | 		fix.getStatus().setService(NavSatStatus.SERVICE_GPS);
104 | 		
105 | 		fix.setLatitude(location.getLatitude());
106 | 		fix.setLongitude(location.getLongitude());
107 | 		fix.setAltitude(location.getAltitude());
108 | 		fix.setPositionCovarianceType(NavSatFix.COVARIANCE_TYPE_APPROXIMATED);
109 | 		double deviation = location.getAccuracy();
110 | 		double covariance = deviation*deviation;
111 | 		double[] tmpCov = {covariance,0,0, 0,covariance,0, 0,0,covariance};
112 | 		fix.setPositionCovariance(tmpCov);
113 | 		publisher.publish(fix);
114 | 	}
115 | 
116 | //	@Override
117 | 	public void onProviderDisabled(String provider) {
118 | 	}
119 | 
120 | //	@Override
121 | 	public void onProviderEnabled(String provider) {
122 | 	}
123 | 
124 | //	@Override
125 | 	public void onStatusChanged(String provider, int status, Bundle extras) {
126 | 		switch (status) {
127 | 		case LocationProvider.OUT_OF_SERVICE:
128 | 			currentStatus = NavSatStatus.STATUS_NO_FIX;
129 | 			break;
130 | 		case LocationProvider.TEMPORARILY_UNAVAILABLE:
131 | 			currentStatus = NavSatStatus.STATUS_NO_FIX;
132 | 			break;
133 | 		case LocationProvider.AVAILABLE:
134 | 			currentStatus = NavSatStatus.STATUS_FIX;
135 | 			break;
136 | 		}
137 | 	}
138 |   }
139 | 
140 |   public NavSatFixPublisher(LocationManager manager) {
141 | 	  this.locationManager = manager;
142 |   }
143 | 
144 | //@Override
145 | public void onStart(ConnectedNode node)
146 | {
147 |   try
148 |   {
149 | 	this.publisher = node.newPublisher("android/fix", "sensor_msgs/NavSatFix");
150 |   	this.navSatFixListener = new NavSatListener(publisher);
151 |   	this.navSatThread = new NavSatThread(this.locationManager, this.navSatFixListener);
152 |   	this.navSatThread.start();
153 |   }
154 |   catch (Exception e)
155 |   {
156 |     if (node != null)
157 |     {
158 |       node.getLog().fatal(e);
159 |     }
160 |     else
161 |     {
162 |       e.printStackTrace();
163 |     }
164 |   }
165 | }
166 | 
167 | //@Override
168 | public void onShutdown(Node arg0) {
169 | 	this.navSatThread.shutdown();
170 | 	try {
171 | 		this.navSatThread.join();
172 | 	} catch (InterruptedException e) {
173 | 		e.printStackTrace();
174 | 	}
175 | }
176 | 
177 | //@Override
178 | public void onShutdownComplete(Node arg0) {
179 | }
180 | 
181 | public GraphName getDefaultNodeName()
182 | {
183 | 	    return GraphName.of("android_sensors_driver/imuPublisher");
184 | }
185 | 
186 | public void onError(Node node, Throwable throwable)
187 | {
188 | }
189 | 
190 | }
191 | 


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