Add odometry publisher system #547
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Add code for initial plugin that gets position from Pose component and calculates velocities based on rolling mean from displacement data. Signed-off-by: Maganty Rushyendra <mrushyendra@yahoo.com.sg>
Also renames frames in Odometry msg to include model name, and makes various style changes. Signed-off-by: Maganty Rushyendra <mrushyendra@yahoo.com.sg>
Signed-off-by: Maganty Rushyendra <mrushyendra@yahoo.com.sg>
Includes minor stylistic changes. Signed-off-by: Maganty Rushyendra <mrushyendra@yahoo.com.sg>
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Signed-off-by: Maganty Rushyendra <mrushyendra@yahoo.com.sg>
Swap X and Y linear velocities when calculating odometry velocities relative to robotBaseFrame. Signed-off-by: Maganty Rushyendra <mrushyendra@yahoo.com.sg>
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Just added some tests |
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friendly ping @mrushyendra |
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@chapulina do you mind to have a quick look here? |
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* 🎈 3.8.0 (#688) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Make it so joint state publisher is quieter (#696) Signed-off-by: Michael Carroll <michael@openrobotics.org> * [BULLET] Making GetContactsFromLastStepFeature optional in Collision Features (#690) * GetContactsFromLastStepFeature made optional Signed-off-by: Tomas Lorente <jtlorente@ekumenlabs.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add test for thermal object temperatures below 0 kelvin (#621) Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * Scenebroadcaster sensors (#698) * Add sensors to scene broadcaster Signed-off-by: Nate Koenig <nate@openrobotics.org> * Update src/systems/scene_broadcaster/SceneBroadcaster.cc Co-authored-by: Michael Carroll <michael@openrobotics.org> * Fix codecheck Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Michael Carroll <michael@openrobotics.org> * Fix diffuse and ambient values for ackermann example (#707) Signed-off-by: Ammaar Solkar <asketch8@gmail.com> * 🎈 5.0.0 (#731) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Support configuring particle scatter ratio in particle emitter system (#674) * set particle scatter ratio through sdf Signed-off-by: Ian Chen <ichen@osrfoundation.org> * address feedback Signed-off-by: Ian Chen <ichen@osrfoundation.org> * add todo note about merging forward Signed-off-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> * Update PlaybackScrubber description (#733) Signed-off-by: Ammaar Solkar <asketch8@gmail.com> * Iterate through changed links only in UpdateSim (#678) Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * Do not pass -Wno-unused-parameter to MSVC compiler (#716) Signed-off-by: Silvio Traversaro <silvio.traversaro@iit.it> * Use Protobuf_IMPORT_DIRS instead of PROTOBUF_IMPORT_DIRS for compatibility with Protobuf CMake config (#715) Signed-off-by: Silvio Traversaro <silvio.traversaro@iit.it> * Fix component inspector shutdown crash (#724) Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Validate step size and RTF parameters (#740) Only set them if they are strictly positive. Signed-off-by: Luca Della Vedova <luca@openrobotics.org> * Fix compute_rtfs arguments (#737) Signed-off-by: Caio Amaral <caioaamaral@gmail.com> * Fixed collision visual bounding boxes (#746) Signed-off-by: Jenn Nguyen <jenn@openrobotics.org> * Fix CMakelists.txt merge Signed-off-by: Nate Koenig <nate@openrobotics.org> * ECM's ChangedState gets message with modified components (#742) * ecm's ChangedState to contain modified components Signed-off-by: Jenn Nguyen <jenn@openrobotics.org> * updated log_system test Signed-off-by: Jenn Nguyen <jenn@openrobotics.org> * removed unnecessary calls Signed-off-by: Jenn Nguyen <jenn@openrobotics.org> Co-authored-by: Ian Chen <ichen@osrfoundation.org> * fixed particle emitter forward playback (#745) Signed-off-by: Jenn Nguyen <jenn@openrobotics.org> * Merge pull request #730 from ignitionrobotics/particle_emitter Particle emitter based on SDF * 4 7 0 prep (#755) * Prepare for 4.7.0 Signed-off-by: Nate Koenig <nate@openrobotics.org> * Added placeholder Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Fix 'invalid animation update data' msg for actors (#754) Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * Update benchmark comparison instructions (#766) (#766) Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * [DiffDrive] add enable/disable (#772) * add enable/disable diffdrive Signed-off-by: Guillaume Doisy <guillaume.doisy@wyca.fr> * remove debug Signed-off-by: Guillaume Doisy <guillaume.doisy@wyca.fr> * do not subscribe to enable if topic is empty Signed-off-by: Guillaume Doisy <guillaume.doisy@wyca.fr> * add test Signed-off-by: Guillaume Doisy <guillaume.doisy@wyca.fr> * lint and style Signed-off-by: Guillaume Doisy <guillaume.doisy@wyca.fr> * change enable type to bool and renamed to enabled Signed-off-by: Guillaume Doisy <guillaume.doisy@wyca.fr> * Add odometry publisher system (#547) * Create Initial Odometry Publisher system plugin Add code for initial plugin that gets position from Pose component and calculates velocities based on rolling mean from displacement data. Signed-off-by: Maganty Rushyendra <mrushyendra@yahoo.com.sg> * Remove Linear and Angular Velocity components Also renames frames in Odometry msg to include model name, and makes various style changes. Signed-off-by: Maganty Rushyendra <mrushyendra@yahoo.com.sg> * Get World pose instead of pose of robot base frame Signed-off-by: Maganty Rushyendra <mrushyendra@yahoo.com.sg> * Add documentation for variables and functions Includes minor stylistic changes. Signed-off-by: Maganty Rushyendra <mrushyendra@yahoo.com.sg> * Check for valid odomTopic and update copyright year Signed-off-by: Maganty Rushyendra <mrushyendra@yahoo.com.sg> * Add tests for OdometryPublisherSystem and fix velocity calculation bug Swap X and Y linear velocities when calculating odometry velocities relative to robotBaseFrame. Signed-off-by: Maganty Rushyendra <mrushyendra@yahoo.com.sg> Co-authored-by: ahcorde <ahcorde@gmail.com> * Patch particle emitter2 service (#777) * Patch particle emitter2 service Signed-off-by: Nate Koenig <nate@openrobotics.org> * Remove condition variable Signed-off-by: Nate Koenig <nate@openrobotics.org> * Set emitter frame and relative pose Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Preparing for 4.8.0 release (#780) Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * 👩🌾 Enable Focal CI (#646) Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Michael Carroll <michael@openrobotics.org> * [TPE] Support setting individual link velocity (#427) Signed-off-by: claireyywang <22240514+claireyywang@users.noreply.github.com> Signed-off-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Don't store duplicate ComponentTypeId in ECM (#751) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Feature/hydrodynamics (#749) Implement hydrodynamics and thruster plugin. Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org> Co-authored-by: Mabel Zhang <mabel@openrobotics.org> Co-authored-by: Carlos Agüero <caguero@openrobotics.org> * Fix macOS build: components::Name in benchmark (#784) Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org> * Fix ColladaExporter submesh index bug (#763) Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com> * 👩🌾 Fix Windows build and some warnings (#782) Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Prevent crash on Plotting plugin with mutex (#747) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Bump ign-physics version to 3.2 (#792) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Bump to ign-msgs 7.1 / sdformat 11.1, Windows fixes (#758) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Util: Use public API from libsdformat for detecting non-file source (#794) Signed-off-by: Eric Cousineau <eric.cousineau@tri.global> * Fix included nested model expansion in SDF generation (#768) * fixed included nested model expansion Signed-off-by: Jenn Nguyen <jenn@openrobotics.org> * added resource path to test Signed-off-by: Jenn Nguyen <jenn@openrobotics.org> * use orig URIs & support multi level nesting Signed-off-by: Jenn Nguyen <jenn@openrobotics.org> * save fuel version when enabled Signed-off-by: Jenn Nguyen <jenn@openrobotics.org> * retrieve uri from map Signed-off-by: Jenn Nguyen <jenn@openrobotics.org> * copy included element Signed-off-by: Jenn Nguyen <jenn@openrobotics.org> * clear attributes before copying include element Signed-off-by: Jenn Nguyen <jenn@openrobotics.org> * Map canonical links to their models (#736) Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * ColladaExporter, export submesh selected (#802) * Export only submesh if selected * Add test case for the PR * Attempting a unified solution Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Michael Carroll <michael@openrobotics.org> Co-authored-by: Jose Tomas Lorente <jtlorente@ekumenlabs.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Ashton Larkin <ashton@openrobotics.org> Co-authored-by: Nate Koenig <nkoenig@users.noreply.github.com> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Ammaar Solkar <asketch8@gmail.com> Co-authored-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> Co-authored-by: Silvio Traversaro <pegua1@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Luca Della Vedova <luca@openrobotics.org> Co-authored-by: Caio Amaral <caioaamaral@gmail.com> Co-authored-by: Jenn Nguyen <jenn@openrobotics.org> Co-authored-by: G.Doisy <doisyg@users.noreply.github.com> Co-authored-by: Rushyendra Maganty <mrushyendra@yahoo.com.sg> Co-authored-by: Claire Wang <22240514+claireyywang@users.noreply.github.com> Co-authored-by: Arjo Chakravarty <arjo129@gmail.com> Co-authored-by: Mabel Zhang <mabel@openrobotics.org> Co-authored-by: Carlos Agüero <caguero@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Jorge Perez <j.j.perez13@hotmail.com> Co-authored-by: Eric Cousineau <eric.cousineau@tri.global> Co-authored-by: Jorge Perez <jjperez@ekumenlabs.com>
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Adds a new system that publishes odometry messages for an entity, in a manner similar to what the
ros_planar_moveplugin for Gazebo does. It assumes the robot is on a flat plane and publishes 2D position and velocity data.There may be other requirements for such a system that I might have missed out on adding, so I can make any changes or additions if necessary.
Closes #465