Merge pull request #22 from KumarRobotics/feature/odometry-heading

added test script for differential gps

Author: jhughes50

glider/scripts/odometry_heading.py

@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from nav_msgs.msg import Odometry
+from scipy.spatial.transform import Rotation
+
+class OdomHeadingSubscriber(Node):
+    def __init__(self):
+        super().__init__('odom_heading_subscriber')
+        self.subscription = self.create_subscription(
+            Odometry,
+            '/glider/odom',
+            self.odom_callback,
+            10)
+        self.get_logger().info('Odometry heading subscriber initialized')
+
+    def odom_callback(self, msg):
+        # Extract quaternion from odometry message
+        orientation = msg.pose.pose.orientation
+        quat = [orientation.x, orientation.y, orientation.z, orientation.w]
+        
+        # Convert quaternion to Euler angles using scipy
+        rotation = Rotation.from_quat(quat)
+        euler = rotation.as_euler('xyz', degrees=False)
+        
+        # Extract yaw (rotation around z-axis)
+        yaw = euler[2]
+        
+        # Convert radians to degrees
+        heading_degrees = yaw * 180.0 / 3.141592653589793
+        
+        # Print the heading
+        self.get_logger().info(f'Heading: {heading_degrees:.2f} degrees')
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = OdomHeadingSubscriber()
+    
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()