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Fix wrong twist in odometry messages #284

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merged 2 commits into from
Jul 16, 2022
Merged

Fix wrong twist in odometry messages #284

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6697133
fix wrong twist in odometry messages
mateusz-lichota Feb 2, 2022
d706cf4
Add computation of sideways linear velocity
mateusz-lichota Jul 14, 2022
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2 changes: 2 additions & 0 deletions ros2/src/fsds_ros2_bridge/include/airsim_ros_wrapper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -170,6 +170,8 @@ class AirsimROSWrapper
std::shared_ptr<rclcpp::Service<fs_msgs::srv::Reset>> reset_srvr_;

std::string vehicle_name;
std::string map_frame_id_;
std::string vehicle_frame_id_;
CarApiBase::Point2D car_start_pos; // In Unreal coordinates


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17 changes: 10 additions & 7 deletions ros2/src/fsds_ros2_bridge/src/airsim_ros_wrapper.cpp
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Expand Up @@ -129,6 +129,9 @@ void AirsimROSWrapper::initialize_ros()
update_imu_every_n_sec = nh_->declare_parameter<double> ("update_imu_every_n_sec" , 0.004);
update_gss_every_n_sec = nh_->declare_parameter<double> ("update_gss_every_n_sec" , 0.01);
publish_static_tf_every_n_sec = nh_->declare_parameter<double> ("publish_static_tf_every_n_sec", 1.0);
map_frame_id_ = nh_->declare_parameter<std::string>("map_frame_id" , "fsds/map");
vehicle_frame_id_ = nh_->declare_parameter<std::string>("vehicle_frame_id" , "fsds/FSCar");


RCLCPP_INFO_STREAM(nh_->get_logger(), "Manual mode: " << manual_mode);

Expand Down Expand Up @@ -307,9 +310,9 @@ msr::airlib::Quaternionr AirsimROSWrapper::get_airlib_quat(const tf2::Quaternion
nav_msgs::msg::Odometry AirsimROSWrapper::get_odom_msg_from_airsim_state(const msr::airlib::CarApiBase::CarState& car_state) const
{
nav_msgs::msg::Odometry odom_enu_msg;
odom_enu_msg.header.frame_id = "fsds/map";
odom_enu_msg.header.frame_id = map_frame_id_;
odom_enu_msg.header.stamp = make_ts(car_state.timestamp);
odom_enu_msg.child_frame_id = "fsds/FSCar";
odom_enu_msg.child_frame_id = vehicle_frame_id_;
odom_enu_msg.pose.pose.position.x = car_state.getPosition().x();
odom_enu_msg.pose.pose.position.y = car_state.getPosition().y();
odom_enu_msg.pose.pose.position.z = car_state.getPosition().z();
Expand All @@ -319,11 +322,11 @@ nav_msgs::msg::Odometry AirsimROSWrapper::get_odom_msg_from_airsim_state(const m
odom_enu_msg.pose.pose.orientation.z = car_state.getOrientation().z();
odom_enu_msg.pose.pose.orientation.w = car_state.getOrientation().w();

odom_enu_msg.twist.twist.linear.x = car_state.kinematics_estimated.twist.linear.x();
odom_enu_msg.twist.twist.linear.y = car_state.kinematics_estimated.twist.linear.y();
odom_enu_msg.twist.twist.linear.z = car_state.kinematics_estimated.twist.linear.z();
odom_enu_msg.twist.twist.angular.x = car_state.kinematics_estimated.twist.angular.x();
odom_enu_msg.twist.twist.angular.y = car_state.kinematics_estimated.twist.angular.y();
odom_enu_msg.twist.twist.linear.x = car_state.speed;
odom_enu_msg.twist.twist.linear.y = 0;
odom_enu_msg.twist.twist.linear.z = 0;
odom_enu_msg.twist.twist.angular.x = 0;
odom_enu_msg.twist.twist.angular.y = 0;
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odom_enu_msg.twist.twist.angular.z = car_state.kinematics_estimated.twist.angular.z();

return odom_enu_msg;
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