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fix odometry issue in diff_drive_controller #331

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Merged
merged 5 commits into from
May 3, 2022
Merged

fix odometry issue in diff_drive_controller #331

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247da67
fix odometry issue in diff_drive_controller
roncapat Apr 16, 2022
d788683
Make update_dt variable appear earlier in code
roncapat Apr 16, 2022
b1aefc5
Reformat
roncapat Apr 16, 2022
81f956b
Reformat
roncapat Apr 16, 2022
304c09c
Simplify time/period occurrences
roncapat May 1, 2022
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31 changes: 15 additions & 16 deletions diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -140,7 +140,7 @@ InterfaceConfiguration DiffDriveController::state_interface_configuration() cons
}

controller_interface::return_type DiffDriveController::update(
const rclcpp::Time & time, const rclcpp::Duration & /*period*/)
const rclcpp::Time & time, const rclcpp::Duration & period)
{
auto logger = node_->get_logger();
if (get_state().id() == State::PRIMARY_STATE_INACTIVE)
Expand All @@ -153,8 +153,6 @@ controller_interface::return_type DiffDriveController::update(
return controller_interface::return_type::OK;
}

const auto current_time = time;

std::shared_ptr<Twist> last_command_msg;
received_velocity_msg_ptr_.get(last_command_msg);

Expand All @@ -164,7 +162,7 @@ controller_interface::return_type DiffDriveController::update(
return controller_interface::return_type::ERROR;
}

const auto age_of_last_command = current_time - last_command_msg->header.stamp;
const auto age_of_last_command = time - last_command_msg->header.stamp;
// Brake if cmd_vel has timeout, override the stored command
if (age_of_last_command > cmd_vel_timeout_)
{
Expand All @@ -178,6 +176,8 @@ controller_interface::return_type DiffDriveController::update(
double & linear_command = command.twist.linear.x;
double & angular_command = command.twist.angular.z;

previous_update_timestamp_ = time;

// Apply (possibly new) multipliers:
const auto wheels = wheel_params_;
const double wheel_separation = wheels.separation_multiplier * wheels.separation;
Expand All @@ -186,7 +186,7 @@ controller_interface::return_type DiffDriveController::update(

if (odom_params_.open_loop)
{
odometry_.updateOpenLoop(linear_command, angular_command, current_time);
odometry_.updateOpenLoop(linear_command, angular_command, time);
}
else
{
Expand Down Expand Up @@ -214,25 +214,27 @@ controller_interface::return_type DiffDriveController::update(

if (odom_params_.position_feedback)
{
odometry_.update(left_feedback_mean, right_feedback_mean, current_time);
odometry_.update(left_feedback_mean, right_feedback_mean, time);
}
else
{
odometry_.updateFromVelocity(left_feedback_mean, right_feedback_mean, current_time);
odometry_.updateFromVelocity(
left_feedback_mean*period.seconds(), right_feedback_mean*period.seconds(),
time);
}
}

tf2::Quaternion orientation;
orientation.setRPY(0.0, 0.0, odometry_.getHeading());

if (previous_publish_timestamp_ + publish_period_ < current_time)
if (previous_publish_timestamp_ + publish_period_ < time)
{
previous_publish_timestamp_ += publish_period_;

if (realtime_odometry_publisher_->trylock())
{
auto & odometry_message = realtime_odometry_publisher_->msg_;
odometry_message.header.stamp = current_time;
odometry_message.header.stamp = time;
odometry_message.pose.pose.position.x = odometry_.getX();
odometry_message.pose.pose.position.y = odometry_.getY();
odometry_message.pose.pose.orientation.x = orientation.x();
Expand All @@ -247,7 +249,7 @@ controller_interface::return_type DiffDriveController::update(
if (odom_params_.enable_odom_tf && realtime_odometry_transform_publisher_->trylock())
{
auto & transform = realtime_odometry_transform_publisher_->msg_.transforms.front();
transform.header.stamp = current_time;
transform.header.stamp = time;
transform.transform.translation.x = odometry_.getX();
transform.transform.translation.y = odometry_.getY();
transform.transform.rotation.x = orientation.x();
Expand All @@ -258,15 +260,12 @@ controller_interface::return_type DiffDriveController::update(
}
}

const auto update_dt = current_time - previous_update_timestamp_;
previous_update_timestamp_ = current_time;

auto & last_command = previous_commands_.back().twist;
auto & second_to_last_command = previous_commands_.front().twist;
limiter_linear_.limit(
linear_command, last_command.linear.x, second_to_last_command.linear.x, update_dt.seconds());
linear_command, last_command.linear.x, second_to_last_command.linear.x, period.seconds());
limiter_angular_.limit(
angular_command, last_command.angular.z, second_to_last_command.angular.z, update_dt.seconds());
angular_command, last_command.angular.z, second_to_last_command.angular.z, period.seconds());

previous_commands_.pop();
previous_commands_.emplace(command);
Expand All @@ -275,7 +274,7 @@ controller_interface::return_type DiffDriveController::update(
if (publish_limited_velocity_ && realtime_limited_velocity_publisher_->trylock())
{
auto & limited_velocity_command = realtime_limited_velocity_publisher_->msg_;
limited_velocity_command.header.stamp = current_time;
limited_velocity_command.header.stamp = time;
limited_velocity_command.twist = command.twist;
realtime_limited_velocity_publisher_->unlockAndPublish();
}
Expand Down