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fix(ekf_localizer): rosbag clock jump bug #646

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merged 2 commits into from
Apr 7, 2022
+13 −9
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fix(ekf_localizer): rosbag clock jump bug #646

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ca2c576
fix(ekf_localizer): rosbag clock jump bug
YamatoAndo Apr 6, 2022
5899841
ci(pre-commit): autofix
pre-commit-ci[bot] Apr 6, 2022
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22 changes: 13 additions & 9 deletions localization/ekf_localizer/src/ekf_localizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -116,15 +116,19 @@ EKFLocalizer::EKFLocalizer(const std::string & node_name, const rclcpp::NodeOpti
void EKFLocalizer::updatePredictFrequency()
{
if (last_predict_time_) {
ekf_rate_ = 1.0 / (get_clock()->now() - *last_predict_time_).seconds();
DEBUG_INFO(get_logger(), "[EKF] update ekf_rate_ to %f hz", ekf_rate_);
ekf_dt_ = 1.0 / std::max(ekf_rate_, 0.1);

/* Update discrete proc_cov*/
proc_cov_vx_d_ = std::pow(proc_stddev_vx_c_ * ekf_dt_, 2.0);
proc_cov_wz_d_ = std::pow(proc_stddev_wz_c_ * ekf_dt_, 2.0);
proc_cov_yaw_d_ = std::pow(proc_stddev_yaw_c_ * ekf_dt_, 2.0);
proc_cov_yaw_bias_d_ = std::pow(proc_stddev_yaw_bias_c_ * ekf_dt_, 2.0);
if (get_clock()->now() < *last_predict_time_) {
RCLCPP_WARN(get_logger(), "Detected jump back in time");
} else {
ekf_rate_ = 1.0 / (get_clock()->now() - *last_predict_time_).seconds();
DEBUG_INFO(get_logger(), "[EKF] update ekf_rate_ to %f hz", ekf_rate_);
ekf_dt_ = 1.0 / std::max(ekf_rate_, 0.1);

/* Update discrete proc_cov*/
proc_cov_vx_d_ = std::pow(proc_stddev_vx_c_ * ekf_dt_, 2.0);
proc_cov_wz_d_ = std::pow(proc_stddev_wz_c_ * ekf_dt_, 2.0);
proc_cov_yaw_d_ = std::pow(proc_stddev_yaw_c_ * ekf_dt_, 2.0);
proc_cov_yaw_bias_d_ = std::pow(proc_stddev_yaw_bias_c_ * ekf_dt_, 2.0);
}
}
last_predict_time_ = std::make_shared<const rclcpp::Time>(get_clock()->now());
}
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