Vehicle-cpp/Nav/autoware_src/autoware/utilities/sync/sync_drivers.cpp

/*
 * Copyright 2015-2019 Autoware Foundation. All rights reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
/* ----header---- */
/* common header */
#include "ros/ros.h"
#include <sstream>
#include <boost/circular_buffer.hpp>
#include "std_msgs/Header.h"
/* user header */
#include "sensor_msgs/Image.h"
#include "sensor_msgs/PointCloud2.h"
#include "autoware_msgs/SyncTimeDiff.h"

/* ----var---- */
/* common var */
/* user var */
sensor_msgs::Image image_raw_buf;

ros::Publisher points_raw__pub;
ros::Publisher image_raw__pub;
ros::Publisher time_diff_pub;
bool is_sim;

double fabs_time_diff(const std_msgs::Header *timespec1, const std_msgs::Header *timespec2)
{
    double time1 = (double)timespec1->stamp.sec + (double)timespec1->stamp.nsec/1000000000L;
    double time2 = (double)timespec2->stamp.sec + (double)timespec2->stamp.nsec/1000000000L;
    return fabs(time1 - time2);
}

void image_raw_callback(sensor_msgs::Image image_raw_msg)
{
    image_raw_buf = image_raw_msg;
}

void points_raw_callback(const sensor_msgs::PointCloud2::ConstPtr& points_raw_msg)
{
    autoware_msgs::SyncTimeDiff time_diff_msg;
    time_diff_msg.header.frame_id = "0";
    time_diff_msg.header.stamp = points_raw_msg->header.stamp;
    time_diff_msg.time_diff = fabs_time_diff(&(points_raw_msg->header), &image_raw_buf.header)*1000.0; //msec
    time_diff_msg.camera = image_raw_buf.header.stamp;
    time_diff_msg.lidar = points_raw_msg->header.stamp;
    time_diff_pub.publish(time_diff_msg);

    image_raw_buf.header.stamp = points_raw_msg->header.stamp;
    image_raw__pub.publish(image_raw_buf);
    points_raw__pub.publish(points_raw_msg);
}



int main(int argc, char **argv)
{
  ros::init(argc, argv, "sync_drivers");
  ros::NodeHandle nh;
  ros::NodeHandle private_nh("~");

  ros::Subscriber image_raw_sub = nh.subscribe("/image_raw", 1, image_raw_callback);
  ros::Subscriber points_raw_sub;
  points_raw_sub = nh.subscribe("/points_raw", 1, points_raw_callback);

  image_raw__pub = nh.advertise<sensor_msgs::Image>("image_raw", 1);
  points_raw__pub = nh.advertise<sensor_msgs::PointCloud2>("points_raw", 1);
  time_diff_pub = nh.advertise<autoware_msgs::SyncTimeDiff>("/time_difference", 1);

  ros::spin();


  return 0;
}