mirror of https://github.com/ArduPilot/ardupilot
77 lines
3.1 KiB
C++
77 lines
3.1 KiB
C++
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#include "AP_DDS_External_Odom.h"
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#include "AP_DDS_Type_Conversions.h"
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#if AP_DDS_VISUALODOM_ENABLED
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#include <AP_VisualOdom/AP_VisualOdom.h>
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#include <GCS_MAVLink/GCS.h>
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void AP_DDS_External_Odom::handle_external_odom(const tf2_msgs_msg_TFMessage& msg)
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{
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auto *visual_odom = AP::visualodom();
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if (visual_odom == nullptr) {
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return;
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}
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for (size_t i = 0; i < msg.transforms_size; i++) {
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const auto& ros_transform_stamped = msg.transforms[i];
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if (!is_odometry_frame(ros_transform_stamped)) {
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continue;
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}
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const uint64_t remote_time_us {AP_DDS_Type_Conversions::time_u64_micros(ros_transform_stamped.header.stamp)};
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Vector3f ap_position;
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Quaternion ap_rotation;
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convert_transform(ros_transform_stamped.transform, ap_position, ap_rotation);
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// Although ROS convention states quaternions in ROS messages should be normalized, it's not guaranteed.
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// Before propogating a potentially inaccurate quaternion to the rest of AP, normalize it here.
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// TODO what if the quaternion is NaN?
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ap_rotation.normalize();
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// No error is available in TF, trust the data as-is
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const float posErr {0.0};
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const float angErr {0.0};
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// The odom to base_link transform used is locally consistent per ROS REP-105.
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// https://www.ros.org/reps/rep-0105.html#id16
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// Thus, there will not be any resets.
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const uint8_t reset_counter {0};
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// TODO imlement jitter correction similar to GCS_MAVLINK::correct_offboard_timestamp_usec_to_ms(remote_time_us, sizeof(msg));
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const uint32_t time_ms {static_cast<uint32_t>(remote_time_us * 1E-3)};
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visual_odom->handle_pose_estimate(remote_time_us, time_ms, ap_position.x, ap_position.y, ap_position.z, ap_rotation, posErr, angErr, reset_counter);
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}
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}
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bool AP_DDS_External_Odom::is_odometry_frame(const geometry_msgs_msg_TransformStamped& msg)
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{
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char odom_parent[] = "odom";
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char odom_child[] = "base_link";
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// Assume the frame ID's are null terminated.
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return (strcmp(msg.header.frame_id, odom_parent) == 0) &&
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(strcmp(msg.child_frame_id, odom_child) == 0);
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}
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void AP_DDS_External_Odom::convert_transform(const geometry_msgs_msg_Transform& ros_transform, Vector3f& translation, Quaternion& rotation)
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{
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// convert from x-forward, y-left, z-up to NED
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// https://github.com/mavlink/mavros/issues/49#issuecomment-51614130
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translation = {
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static_cast<float>(ros_transform.translation.x),
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static_cast<float>(-ros_transform.translation.y),
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static_cast<float>(-ros_transform.translation.z)
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};
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// In AP, q1 is the quaternion's scalar component.
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// In ROS, w is the quaternion's scalar component.
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// https://docs.ros.org/en/humble/Tutorials/Intermediate/Tf2/Quaternion-Fundamentals.html#components-of-a-quaternion
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rotation.q1 = ros_transform.rotation.w;
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rotation.q2 = ros_transform.rotation.x;
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rotation.q3 = -ros_transform.rotation.y;
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rotation.q4 = -ros_transform.rotation.z;
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}
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#endif // AP_DDS_VISUALODOM_ENABLED
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