Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fixed tf for odometry #86

Merged
merged 1 commit into from
Apr 27, 2024
Merged

Fixed tf for odometry #86

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 6 additions & 2 deletions scanmatcher/include/scanmatcher/scanmatcher_component.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -105,7 +105,7 @@ namespace graphslam
std::packaged_task < void() > mapping_task_;
std::future < void > mapping_future_;

geometry_msgs::msg::PoseStamped corrent_pose_stamped_;
geometry_msgs::msg::PoseStamped current_pose_stamped_;
lidarslam_msgs::msg::MapArray map_array_msg_;
nav_msgs::msg::Path path_;
rclcpp::Publisher < geometry_msgs::msg::PoseStamped > ::SharedPtr pose_pub_;
Expand All @@ -129,7 +129,11 @@ namespace graphslam
void updateMap(
const pcl::PointCloud < pcl::PointXYZI > ::ConstPtr cloud_ptr,
const Eigen::Matrix4f final_transformation,
const geometry_msgs::msg::PoseStamped corrent_pose_stamped
const geometry_msgs::msg::PoseStamped current_pose_stamped
);
geometry_msgs::msg::TransformStamped calculateMaptoOdomTransform(
const geometry_msgs::msg::TransformStamped &base_to_map_msg,
const rclcpp::Time stamp
);

bool initial_pose_received_ {false};
Expand Down
105 changes: 71 additions & 34 deletions scanmatcher/src/scanmatcher_component.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -144,8 +144,8 @@ ScanMatcherComponent::ScanMatcherComponent(const rclcpp::NodeOptions & options)
msg->pose.orientation.y = initial_pose_qy_;
msg->pose.orientation.z = initial_pose_qz_;
msg->pose.orientation.w = initial_pose_qw_;
corrent_pose_stamped_ = *msg;
pose_pub_->publish(corrent_pose_stamped_);
current_pose_stamped_ = *msg;
pose_pub_->publish(current_pose_stamped_);
initial_pose_received_ = true;

path_.poses.push_back(*msg);
Expand All @@ -167,13 +167,13 @@ void ScanMatcherComponent::initializePubSub()
}
RCLCPP_INFO(get_logger(), "initial_pose is received");

corrent_pose_stamped_ = *msg;
previous_position_.x() = corrent_pose_stamped_.pose.position.x;
previous_position_.y() = corrent_pose_stamped_.pose.position.y;
previous_position_.z() = corrent_pose_stamped_.pose.position.z;
current_pose_stamped_ = *msg;
previous_position_.x() = current_pose_stamped_.pose.position.x;
previous_position_.y() = current_pose_stamped_.pose.position.y;
previous_position_.z() = current_pose_stamped_.pose.position.z;
initial_pose_received_ = true;

pose_pub_->publish(corrent_pose_stamped_);
pose_pub_->publish(current_pose_stamped_);
};

auto cloud_callback =
Expand Down Expand Up @@ -268,7 +268,7 @@ void ScanMatcherComponent::initializeMap(const pcl::PointCloud <pcl::PointXYZI>:
voxel_grid.setInputCloud(tmp_ptr);
voxel_grid.filter(*cloud_ptr);

Eigen::Matrix4f sim_trans = getTransformation(corrent_pose_stamped_.pose);
Eigen::Matrix4f sim_trans = getTransformation(current_pose_stamped_.pose);
pcl::PointCloud<pcl::PointXYZI>::Ptr transformed_cloud_ptr(
new pcl::PointCloud<pcl::PointXYZI>());
pcl::transformPointCloud(*cloud_ptr, *transformed_cloud_ptr, sim_trans);
Expand All @@ -285,7 +285,7 @@ void ScanMatcherComponent::initializeMap(const pcl::PointCloud <pcl::PointXYZI>:
lidarslam_msgs::msg::SubMap submap;
submap.header = header;
submap.distance = 0;
submap.pose = corrent_pose_stamped_.pose;
submap.pose = current_pose_stamped_.pose;
submap.cloud = *cloud_msg_ptr;
map_array_msg_.header = header;
map_array_msg_.submaps.push_back(submap);
Expand Down Expand Up @@ -328,7 +328,7 @@ void ScanMatcherComponent::receiveCloud(
voxel_grid.filter(*filtered_cloud_ptr);
registration_->setInputSource(filtered_cloud_ptr);

Eigen::Matrix4f sim_trans = getTransformation(corrent_pose_stamped_.pose);
Eigen::Matrix4f sim_trans = getTransformation(current_pose_stamped_.pose);

if (use_odom_) {
geometry_msgs::msg::TransformStamped odom_trans;
Expand Down Expand Up @@ -361,7 +361,7 @@ void ScanMatcherComponent::receiveCloud(

tf2::Quaternion quat_tf;
double roll, pitch, yaw;
tf2::fromMsg(corrent_pose_stamped_.pose.orientation, quat_tf);
tf2::fromMsg(current_pose_stamped_.pose.orientation, quat_tf);
tf2::Matrix3x3(quat_tf).getRPY(roll, pitch, yaw);

std::cout << "---------------------------------------------------------" << std::endl;
Expand Down Expand Up @@ -398,37 +398,45 @@ void ScanMatcherComponent::publishMapAndPose(
geometry_msgs::msg::Quaternion quat_msg = tf2::toMsg(quat_eig);

if(publish_tf_){
geometry_msgs::msg::TransformStamped transform_stamped;
transform_stamped.header.stamp = stamp;
transform_stamped.header.frame_id = global_frame_id_;
transform_stamped.child_frame_id = robot_frame_id_;
transform_stamped.transform.translation.x = position.x();
transform_stamped.transform.translation.y = position.y();
transform_stamped.transform.translation.z = position.z();
transform_stamped.transform.rotation = quat_msg;
broadcaster_.sendTransform(transform_stamped);
geometry_msgs::msg::TransformStamped base_to_map_msg;
base_to_map_msg.header.stamp = stamp;
base_to_map_msg.header.frame_id = global_frame_id_;
base_to_map_msg.child_frame_id = robot_frame_id_;
base_to_map_msg.transform.translation.x = position.x();
base_to_map_msg.transform.translation.y = position.y();
base_to_map_msg.transform.translation.z = position.z();
base_to_map_msg.transform.rotation = quat_msg;

if(use_odom_){
geometry_msgs::msg::TransformStamped odom_to_map_msg;
odom_to_map_msg = calculateMaptoOdomTransform(base_to_map_msg, stamp);
broadcaster_.sendTransform(odom_to_map_msg);
}
else{
broadcaster_.sendTransform(base_to_map_msg);
}
}

corrent_pose_stamped_.header.stamp = stamp;
corrent_pose_stamped_.pose.position.x = position.x();
corrent_pose_stamped_.pose.position.y = position.y();
corrent_pose_stamped_.pose.position.z = position.z();
corrent_pose_stamped_.pose.orientation = quat_msg;
pose_pub_->publish(corrent_pose_stamped_);
current_pose_stamped_.header.stamp = stamp;
current_pose_stamped_.pose.position.x = position.x();
current_pose_stamped_.pose.position.y = position.y();
current_pose_stamped_.pose.position.z = position.z();
current_pose_stamped_.pose.orientation = quat_msg;
pose_pub_->publish(current_pose_stamped_);

path_.poses.push_back(corrent_pose_stamped_);
path_.poses.push_back(current_pose_stamped_);
path_pub_->publish(path_);

trans_ = (position - previous_position_).norm();
if (trans_ >= trans_for_mapupdate_ && !mapping_flag_) {
geometry_msgs::msg::PoseStamped corrent_pose_stamped;
corrent_pose_stamped = corrent_pose_stamped_;
geometry_msgs::msg::PoseStamped current_pose_stamped;
current_pose_stamped = current_pose_stamped_;
previous_position_ = position;
mapping_task_ =
std::packaged_task<void()>(
std::bind(
&ScanMatcherComponent::updateMap, this, cloud_ptr,
final_transformation, corrent_pose_stamped));
final_transformation, current_pose_stamped));
mapping_future_ = mapping_task_.get_future();
mapping_thread_ = std::thread(std::move(std::ref(mapping_task_)));
mapping_flag_ = true;
Expand All @@ -438,7 +446,7 @@ void ScanMatcherComponent::publishMapAndPose(
void ScanMatcherComponent::updateMap(
const pcl::PointCloud<pcl::PointXYZI>::ConstPtr cloud_ptr,
const Eigen::Matrix4f final_transformation,
const geometry_msgs::msg::PoseStamped corrent_pose_stamped)
const geometry_msgs::msg::PoseStamped current_pose_stamped)
{
pcl::PointCloud<pcl::PointXYZI>::Ptr filtered_cloud_ptr(new pcl::PointCloud<pcl::PointXYZI>());
pcl::VoxelGrid<pcl::PointXYZI> voxel_grid;
Expand Down Expand Up @@ -470,13 +478,13 @@ void ScanMatcherComponent::updateMap(

lidarslam_msgs::msg::SubMap submap;
submap.header.frame_id = global_frame_id_;
submap.header.stamp = corrent_pose_stamped.header.stamp;
submap.header.stamp = current_pose_stamped.header.stamp;
latest_distance_ += trans_;
submap.distance = latest_distance_;
submap.pose = corrent_pose_stamped.pose;
submap.pose = current_pose_stamped.pose;
submap.cloud = *cloud_msg_ptr;
submap.cloud.header.frame_id = global_frame_id_;
map_array_msg_.header.stamp = corrent_pose_stamped.header.stamp;
map_array_msg_.header.stamp = current_pose_stamped.header.stamp;
map_array_msg_.submaps.push_back(submap);
map_array_pub_->publish(map_array_msg_);

Expand Down Expand Up @@ -551,6 +559,35 @@ void ScanMatcherComponent::publishMap(const lidarslam_msgs::msg::MapArray & map_
map_pub_->publish(*map_msg_ptr);
}

geometry_msgs::msg::TransformStamped ScanMatcherComponent::calculateMaptoOdomTransform(
const geometry_msgs::msg::TransformStamped &base_to_map_msg,
const rclcpp::Time stamp
)
{
geometry_msgs::msg::TransformStamped odom_to_map_msg;
try {
geometry_msgs::msg::PoseStamped odom_to_map;
geometry_msgs::msg::PoseStamped base_to_map;

tf2::Transform odom_to_map_tf;
tf2::Transform base_to_map_msg_tf;
base_to_map.header.frame_id = robot_frame_id_;

tf2::fromMsg(base_to_map_msg.transform, base_to_map_msg_tf);
tf2::toMsg(base_to_map_msg_tf.inverse(), base_to_map.pose);
tfbuffer_.transform(base_to_map, odom_to_map, odom_frame_id_);
tf2::impl::Converter<true, false>::convert(odom_to_map.pose, odom_to_map_tf);
tf2::impl::Converter<false, true>::convert(odom_to_map_tf.inverse(), odom_to_map_msg.transform);

odom_to_map_msg.header.stamp = stamp;
odom_to_map_msg.header.frame_id = global_frame_id_ ;
odom_to_map_msg.child_frame_id = odom_frame_id_;
} catch (tf2::TransformException & e) {
RCLCPP_ERROR(get_logger(), "Transform from base_link to odom failed: %s", e.what());
}
return odom_to_map_msg;
}

} // namespace graphslam

#include <rclcpp_components/register_node_macro.hpp>
Expand Down
Loading