FIx timestamp calculation and implement some minor changes

[pawelirh]

Description

This PR fixes an issue with publishing NaN on orientation

Modifications

• Reimplemented time difference calculation
• Changed how to access a std::vector elements for not performance-demanding methods -> (.at() is safer because of bounds checking)

Summary by CodeRabbit

• New Features

  • Improved time handling in the PantherImuSensor for enhanced accuracy and robustness.
  • Introduced a new clock variable to enhance timekeeping capabilities.

• Bug Fixes

  • Enhanced safety in data access by replacing subscripting with the at() method, preventing out-of-bounds errors.
  • Added warnings for zero time differences between IMU data readings to improve data processing feedback.

• Documentation

  • Updated method signatures for better clarity and alignment with new time handling practices.

[coderabbitai]

Walkthrough

The recent changes enhance the time handling capabilities of the PantherImuSensor class in the Panther hardware interfaces. Key modifications include updating method signatures to utilize rclcpp::Time instead of primitive types for timestamps, improving the safety and robustness of element access in the code, and implementing better error handling in data processing. Overall, these adjustments ensure more accurate and consistent time management across the sensor's operations.

Changes

Files	Change Summary
panther_hardware_interfaces/include/panther_imu.hpp, src/panther_imu.cpp, test/test_panther_imu.cpp	Updated InitializeMadgwickAlgorithm to use rclcpp::Time instead of double for timestamps. Changed member variables to utilize rclcpp::Time for better time management. Enhanced safety by switching to at() for vector and map access. Introduced warnings for zero time differences in data callbacks.

Sequence Diagram(s)

sequenceDiagram
    participant User
    participant PantherImuSensor
    participant rclcpp::Time

    User->>PantherImuSensor: InitializeMadgwickAlgorithm(mag_compensated, lin_acc, timestamp)
    PantherImuSensor->>rclcpp::Time: Create timestamp from input
    PantherImuSensor->>PantherImuSensor: Process sensor data
    PantherImuSensor->>User: Return updated sensor state

Loading

---

Thank you for using CodeRabbit. We offer it for free to the OSS community and would appreciate your support in helping us grow. If you find it useful, would you consider giving us a shout-out on your favorite social media?

Share

• X
• Mastodon
• Reddit
• LinkedIn

Tips

Chat

There are 3 ways to chat with CodeRabbit:

• Review comments: Directly reply to a review comment made by CodeRabbit. Example:
  • I pushed a fix in commit <commit_id>.
  • Generate unit testing code for this file.
  • Open a follow-up GitHub issue for this discussion.
• Files and specific lines of code (under the "Files changed" tab): Tag @coderabbitai in a new review comment at the desired location with your query. Examples:
  • @coderabbitai generate unit testing code for this file.
  • @coderabbitai modularize this function.
• PR comments: Tag @coderabbitai in a new PR comment to ask questions about the PR branch. For the best results, please provide a very specific query, as very limited context is provided in this mode. Examples:
  • @coderabbitai generate interesting stats about this repository and render them as a table.
  • @coderabbitai show all the console.log statements in this repository.
  • @coderabbitai read src/utils.ts and generate unit testing code.
  • @coderabbitai read the files in the src/scheduler package and generate a class diagram using mermaid and a README in the markdown format.
  • @coderabbitai help me debug CodeRabbit configuration file.

Note: Be mindful of the bot's finite context window. It's strongly recommended to break down tasks such as reading entire modules into smaller chunks. For a focused discussion, use review comments to chat about specific files and their changes, instead of using the PR comments.

CodeRabbit Commands (invoked as PR comments)

• @coderabbitai pause to pause the reviews on a PR.
• @coderabbitai resume to resume the paused reviews.
• @coderabbitai review to trigger an incremental review. This is useful when automatic reviews are disabled for the repository.
• @coderabbitai full review to do a full review from scratch and review all the files again.
• @coderabbitai summary to regenerate the summary of the PR.
• @coderabbitai resolve resolve all the CodeRabbit review comments.
• @coderabbitai configuration to show the current CodeRabbit configuration for the repository.
• @coderabbitai help to get help.

Additionally, you can add @coderabbitai ignore anywhere in the PR description to prevent this PR from being reviewed.

CodeRabbit Configuration File (.coderabbit.yaml)

• You can programmatically configure CodeRabbit by adding a .coderabbit.yaml file to the root of your repository.
• Please see the configuration documentation for more information.
• If your editor has YAML language server enabled, you can add the path at the top of this file to enable auto-completion and validation: # yaml-language-server: $schema=https://coderabbit.ai/integrations/schema.v2.json

Documentation and Community

• Visit our Documentation for detailed information on how to use CodeRabbit.
• Join our Discord Community to get help, request features, and share feedback.
• Follow us on X/Twitter for updates and announcements.

[coderabbitai]

Actionable comments posted: 0

Review details

Configuration used: .coderabbit.yaml
Review profile: CHILL

Commits

Files that changed from the base of the PR and between e1d7b08 and 5eb59a3.

Files selected for processing (3)

• panther_hardware_interfaces/include/panther_hardware_interfaces/panther_imu.hpp (3 hunks)
• panther_hardware_interfaces/src/panther_imu.cpp (9 hunks)
• panther_hardware_interfaces/test/test_panther_imu.cpp (1 hunks)

Additional comments not posted (8)

panther_hardware_interfaces/include/panther_hardware_interfaces/panther_imu.hpp (3)

116-116: LGTM!

The change to use rclcpp::Time & timestamp improves the precision and robustness of time handling.

---

180-180: LGTM!

Renaming the member variable and changing its type to rclcpp::Time improves consistency in time handling.

---

147-147: LGTM!

Adding steady_clock_ initialized with RCL_STEADY_TIME enhances the accuracy of time-dependent operations.

panther_hardware_interfaces/src/panther_imu.cpp (4)

377-377: LGTM!

The change to use rclcpp::Time & timestamp improves the precision and robustness of time handling.

---

388-388: LGTM!

Renaming the member variable and changing its type to rclcpp::Time improves consistency in time handling.

---

Line range hint 147-147:
LGTM!

Adding steady_clock_ initialized with RCL_STEADY_TIME enhances the accuracy of time-dependent operations.

---

Line range hint 439-467:
LGTM!

The updates to use rclcpp::Time for timestamps and the addition of a warning for zero time difference improve the accuracy and robustness of data handling.

panther_hardware_interfaces/test/test_panther_imu.cpp (1)

56-58: LGTM!

The change to use rclcpp::Time & timestamp improves the precision and robustness of time handling.