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Define parameters for the frame names of the static transforms #1909

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merged 2 commits into from
Oct 16, 2023
Merged

Define parameters for the frame names of the static transforms #1909

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a54cb99
Define parameters for base_link, odom, map frames
mzahana Oct 11, 2023
3b3804f
Define _frd frames in odom plugin based on parent/child frame parametrs
mzahana Oct 11, 2023
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4 changes: 4 additions & 0 deletions mavros/include/mavros/mavros_uas.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -570,6 +570,10 @@ class UAS : public rclcpp::Node

std::string uas_url;

std::string base_link_frame_id;
std::string odom_frame_id;
std::string map_frame_id;

StrV plugin_allowlist;
StrV plugin_denylist;

Expand Down
18 changes: 15 additions & 3 deletions mavros/src/lib/mavros_uas.cpp
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Expand Up @@ -48,6 +48,9 @@ UAS::UAS(
target_system(target_system_),
target_component(target_component_),
uas_url(uas_url_),
base_link_frame_id("base_link"),
odom_frame_id("odom"),
map_frame_id("map"),
plugin_factory_loader("mavros", "mavros::plugin::PluginFactory"),
loaded_plugins{},
plugin_subscriptions{},
Expand Down Expand Up @@ -77,6 +80,9 @@ UAS::UAS(
this->declare_parameter("target_component_id", target_component);
this->declare_parameter("plugin_allowlist", plugin_allowlist);
this->declare_parameter("plugin_denylist", plugin_denylist);
this->declare_parameter("base_link_frame_id", base_link_frame_id);
this->declare_parameter("odom_frame_id", odom_frame_id);
this->declare_parameter("map_frame_id", map_frame_id);

// NOTE(vooon): we couldn't add_plugin() in constructor because it needs shared_from_this()
startup_delay_timer = this->create_wall_timer(
Expand All @@ -93,6 +99,9 @@ UAS::UAS(
this->get_parameter("target_component_id", tgt_component);
this->get_parameter("plugin_allowlist", plugin_allowlist);
this->get_parameter("plugin_denylist", plugin_denylist);
this->get_parameter("base_link_frame_id", base_link_frame_id);
this->get_parameter("odom_frame_id", odom_frame_id);
this->get_parameter("map_frame_id", map_frame_id);

exec_spin_thd = thread_ptr(
new std::thread(
Expand Down Expand Up @@ -151,21 +160,24 @@ UAS::UAS(

// Publish helper TFs used for frame transformation in the odometry plugin
{
std::string base_link_frd = base_link_frame_id+"_frd";
std::string odom_ned = odom_frame_id+"_ned";
std::string map_ned = map_frame_id+"_ned";
std::vector<geometry_msgs::msg::TransformStamped> transform_vector;
add_static_transform(
"map", "map_ned", Eigen::Affine3d(
map_frame_id, map_ned, Eigen::Affine3d(
ftf::quaternion_from_rpy(
M_PI, 0,
M_PI_2)),
transform_vector);
add_static_transform(
"odom", "odom_ned", Eigen::Affine3d(
odom_frame_id, odom_ned, Eigen::Affine3d(
ftf::quaternion_from_rpy(
M_PI, 0,
M_PI_2)),
transform_vector);
add_static_transform(
"base_link", "base_link_frd",
base_link_frame_id, base_link_frd,
Eigen::Affine3d(ftf::quaternion_from_rpy(M_PI, 0, 0)), transform_vector);

tf2_static_broadcaster.sendTransform(transform_vector);
Expand Down
25 changes: 25 additions & 0 deletions mavros/src/mavros_node.cpp
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Expand Up @@ -32,6 +32,7 @@ int main(int argc, char * argv[])
// options.use_intra_process_comms(true);

std::string fcu_url, gcs_url, uas_url;
std::string base_link_frame_id, odom_frame_id, map_frame_id;
int tgt_system = 1, tgt_component = 1;

auto node = std::make_shared<rclcpp::Node>("mavros_node", options);
Expand All @@ -41,11 +42,17 @@ int main(int argc, char * argv[])
node->declare_parameter("gcs_url", gcs_url);
node->declare_parameter("tgt_system", tgt_system);
node->declare_parameter("tgt_component", tgt_component);
node->declare_parameter("base_link_frame", base_link_frame_id);
node->declare_parameter("map_frame", map_frame_id);
node->declare_parameter("odom_frame", odom_frame_id);

node->get_parameter("fcu_url", fcu_url);
node->get_parameter("gcs_url", gcs_url);
node->get_parameter("tgt_system", tgt_system);
node->get_parameter("tgt_component", tgt_component);
node->get_parameter("base_link_frame", base_link_frame_id);
node->get_parameter("map_frame", map_frame_id);
node->get_parameter("odom_frame", odom_frame_id);

uas_url = mavros::utils::format("/uas%d", tgt_system);

Expand Down Expand Up @@ -78,6 +85,24 @@ int main(int argc, char * argv[])
tgt_component);
exec.add_node(uas_node);

{
std::vector<rclcpp::Parameter> uas_params{};

if (base_link_frame_id != "") {
uas_params.emplace_back("base_link_frame_id", base_link_frame_id);
}

if (odom_frame_id != "") {
uas_params.emplace_back("odom_frame_id", odom_frame_id);
}

if (map_frame_id != "") {
uas_params.emplace_back("map_frame_id", map_frame_id);
}
uas_node->set_parameters(uas_params);

}

exec.spin();
rclcpp::shutdown();
return 0;
Expand Down
8 changes: 4 additions & 4 deletions mavros_extras/src/plugins/odom.cpp
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Expand Up @@ -144,8 +144,8 @@ class OdometryPlugin : public plugin::Plugin
Eigen::Affine3d tf_parent2parent_des;
Eigen::Affine3d tf_child2child_des;

lookup_static_transform(fcu_odom_parent_id_des, "map_ned", tf_parent2parent_des);
lookup_static_transform(fcu_odom_child_id_des, "base_link_frd", tf_child2child_des);
lookup_static_transform(fcu_odom_parent_id_des, fcu_odom_parent_id_des+"_ned", tf_parent2parent_des);
lookup_static_transform(fcu_odom_child_id_des, fcu_odom_child_id_des+"_frd", tf_child2child_des);

//! Build 6x6 pose covariance matrix to be transformed and sent
Matrix6d cov_pose = Matrix6d::Zero();
Expand Down Expand Up @@ -235,8 +235,8 @@ class OdometryPlugin : public plugin::Plugin
Eigen::Affine3d tf_parent2parent_des;
Eigen::Affine3d tf_child2child_des;

lookup_static_transform("odom_ned", odom->header.frame_id, tf_parent2parent_des);
lookup_static_transform("base_link_frd", odom->child_frame_id, tf_child2child_des);
lookup_static_transform(odom->header.frame_id+"_ned", odom->header.frame_id, tf_parent2parent_des);
lookup_static_transform(odom->child_frame_id+"_frd", odom->child_frame_id, tf_child2child_des);

//! Build 6x6 pose covariance matrix to be transformed and sent
ftf::Covariance6d cov_pose = odom->pose.covariance;
Expand Down
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