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add TF/Pose_V pub in DiffDrive #548

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merged 5 commits into from
Feb 23, 2021
Merged

add TF/Pose_V pub in DiffDrive #548

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0f48301
add TF/Pose_V pub in DiffDrive
Jan 12, 2021
423ac10
codecheck
Jan 12, 2021
e5d7d25
update name, tests, description in DiffDrive.hh and add custom tf_topic
Feb 18, 2021
1117f1c
missing pub in DiffDrive tests
Feb 19, 2021
c4fda6a
line length
Feb 20, 2021
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20 changes: 19 additions & 1 deletion src/systems/diff_drive/DiffDrive.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -119,6 +119,9 @@ class ignition::gazebo::systems::DiffDrivePrivate
/// \brief Diff drive odometry message publisher.
public: transport::Node::Publisher odomPub;

/// \brief Diff drive tf message publisher.
public: transport::Node::Publisher tfPub;

/// \brief Linear velocity limiter.
public: std::unique_ptr<SpeedLimiter> limiterLin;

Expand Down Expand Up @@ -271,6 +274,13 @@ void DiffDrive::Configure(const Entity &_entity,
this->dataPtr->odomPub = this->dataPtr->node.Advertise<msgs::Odometry>(
odomTopic);

std::string tfTopic{"/model/" + this->dataPtr->model.Name(_ecm) +
"/tf"};
if (_sdf->HasElement("tf_topic"))
tfTopic = _sdf->Get<std::string>("tf_topic");
this->dataPtr->tfPub = this->dataPtr->node.Advertise<msgs::Pose_V>(
tfTopic);

if (_sdf->HasElement("frame_id"))
this->dataPtr->sdfFrameId = _sdf->Get<std::string>("frame_id");

Expand Down Expand Up @@ -465,9 +475,17 @@ void DiffDrivePrivate::UpdateOdometry(const ignition::gazebo::UpdateInfo &_info,
childFrame->add_value(this->sdfChildFrameId);
}

// Construct the Pose_V/tf message and publish it.
msgs::Pose_V tfMsg;
ignition::msgs::Pose *tfMsgPose = nullptr;
tfMsgPose = tfMsg.add_pose();
tfMsgPose->mutable_header()->CopyFrom(*msg.mutable_header());
tfMsgPose->mutable_position()->CopyFrom(msg.mutable_pose()->position());
tfMsgPose->mutable_orientation()->CopyFrom(msg.mutable_pose()->orientation());

// Publish the message
// Publish the messages
this->odomPub.Publish(msg);
this->tfPub.Publish(tfMsg);
}

//////////////////////////////////////////////////
Expand Down
16 changes: 16 additions & 0 deletions src/systems/diff_drive/DiffDrive.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,22 @@ namespace systems
/// `<odom_topic>`: Custom topic on which this system will publish odometry
/// messages. This element if optional, and the default value is
/// `/model/{name_of_model}/odometry`.
///
/// `<tf_topic>`: Custom topic on which this system will publish the
/// transform from `frame_id` to `child_frame_id`. This element if optional,
/// and the default value is `/model/{name_of_model}/tf`.
///
/// `<frame_id>`: Custom `frame_id` field that this system will use as the
/// origin of the odometry transform in both the `<tf_topic>`
/// `ignition.msgs.Pose_V` message and the `<odom_topic>`
/// `ignition.msgs.Odometry` message. This element if optional, and the
/// default value is `{name_of_model}/odom`.
///
/// `<child_frame_id>`: Custom `child_frame_id` that this system will use as
/// the target of the odometry trasnform in both the `<tf_topic>`
/// `ignition.msgs.Pose_V` message and the `<odom_topic>`
/// `ignition.msgs.Odometry` message. This element if optional,
/// and the default value is `{name_of_model}/{name_of_link}`.
class IGNITION_GAZEBO_VISIBLE DiffDrive
: public System,
public ISystemConfigure,
Expand Down
184 changes: 184 additions & 0 deletions test/integration/diff_drive_system.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -404,6 +404,190 @@ TEST_P(DiffDriveTest, OdomCustomFrameId)
auto pub = node.Advertise<msgs::Twist>("/model/vehicle/cmd_vel");
node.Subscribe("/model/vehicle/odometry", odomCb);

msgs::Twist msg;
msgs::Set(msg.mutable_linear(), math::Vector3d(0.5, 0, 0));
msgs::Set(msg.mutable_angular(), math::Vector3d(0.0, 0, 0.2));

pub.Publish(msg);

server.Run(true, 100, false);

int sleep = 0;
int maxSleep = 30;
for (; odomPosesCount < 5 && sleep < maxSleep; ++sleep)
{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
ASSERT_NE(maxSleep, sleep);

EXPECT_EQ(5u, odomPosesCount);
}

/////////////////////////////////////////////////
TEST_P(DiffDriveTest, Pose_VFrameId)
{
// Start server
ServerConfig serverConfig;
serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/diff_drive.sdf");

Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));

server.SetUpdatePeriod(0ns);

unsigned int odomPosesCount = 0;
std::function<void(const msgs::Pose_V &)> pose_VCb =
[&odomPosesCount](const msgs::Pose_V &_msg)
{
ASSERT_TRUE(_msg.pose(0).has_header());
ASSERT_TRUE(_msg.pose(0).header().has_stamp());

ASSERT_GT(_msg.pose(0).header().data_size(), 1);

EXPECT_STREQ(_msg.pose(0).header().data(0).key().c_str(),
"frame_id");
EXPECT_STREQ(_msg.pose(0).header().data(0).value().Get(0).c_str(),
"vehicle/odom");

EXPECT_STREQ(_msg.pose(0).header().data(1).key().c_str(),
"child_frame_id");
EXPECT_STREQ(_msg.pose(0).header().data(1).value().Get(0).c_str(),
"vehicle/chassis");

odomPosesCount++;
};

transport::Node node;
auto pub = node.Advertise<msgs::Twist>("/model/vehicle/cmd_vel");
node.Subscribe("/model/vehicle/tf", pose_VCb);

msgs::Twist msg;
msgs::Set(msg.mutable_linear(), math::Vector3d(0.5, 0, 0));
msgs::Set(msg.mutable_angular(), math::Vector3d(0.0, 0, 0.2));

pub.Publish(msg);

server.Run(true, 100, false);

int sleep = 0;
int maxSleep = 30;
for (; odomPosesCount < 5 && sleep < maxSleep; ++sleep)
{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
ASSERT_NE(maxSleep, sleep);

EXPECT_EQ(5u, odomPosesCount);
}

/////////////////////////////////////////////////
TEST_P(DiffDriveTest, Pose_VCustomFrameId)
{
// Start server
ServerConfig serverConfig;
serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/diff_drive_custom_frame_id.sdf");

Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));

server.SetUpdatePeriod(0ns);

unsigned int odomPosesCount = 0;
std::function<void(const msgs::Pose_V &)> Pose_VCb =
[&odomPosesCount](const msgs::Pose_V &_msg)
{
ASSERT_TRUE(_msg.pose(0).has_header());
ASSERT_TRUE(_msg.pose(0).header().has_stamp());

ASSERT_GT(_msg.pose(0).header().data_size(), 1);

EXPECT_STREQ(_msg.pose(0).header().data(0).key().c_str(),
"frame_id");
EXPECT_STREQ(_msg.pose(0).header().data(0).value().Get(0).c_str(),
"odom");

EXPECT_STREQ(_msg.pose(0).header().data(1).key().c_str(),
"child_frame_id");
EXPECT_STREQ(_msg.pose(0).header().data(1).value().Get(0).c_str(),
"base_footprint");

odomPosesCount++;
};

transport::Node node;
auto pub = node.Advertise<msgs::Twist>("/model/vehicle/cmd_vel");
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node.Subscribe("/model/vehicle/tf", Pose_VCb);

msgs::Twist msg;
msgs::Set(msg.mutable_linear(), math::Vector3d(0.5, 0, 0));
msgs::Set(msg.mutable_angular(), math::Vector3d(0.0, 0, 0.2));

pub.Publish(msg);

server.Run(true, 100, false);

int sleep = 0;
int maxSleep = 30;
for (; odomPosesCount < 5 && sleep < maxSleep; ++sleep)
{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
ASSERT_NE(maxSleep, sleep);

EXPECT_EQ(5u, odomPosesCount);
}

/////////////////////////////////////////////////
TEST_P(DiffDriveTest, Pose_VCustomTfTopic)
{
// Start server
ServerConfig serverConfig;
serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
"/test/worlds/diff_drive_custom_tf_topic.sdf");

Server server(serverConfig);
EXPECT_FALSE(server.Running());
EXPECT_FALSE(*server.Running(0));

server.SetUpdatePeriod(0ns);

unsigned int odomPosesCount = 0;
std::function<void(const msgs::Pose_V &)> pose_VCb =
[&odomPosesCount](const msgs::Pose_V &_msg)
{
ASSERT_TRUE(_msg.pose(0).has_header());
ASSERT_TRUE(_msg.pose(0).header().has_stamp());

ASSERT_GT(_msg.pose(0).header().data_size(), 1);

EXPECT_STREQ(_msg.pose(0).header().data(0).key().c_str(), "frame_id");
EXPECT_STREQ(
_msg.pose(0).header().data(0).value().Get(0).c_str(),
"vehicle/odom");

EXPECT_STREQ(
_msg.pose(0).header().data(1).key().c_str(), "child_frame_id");
EXPECT_STREQ(
_msg.pose(0).header().data(1).value().Get(0).c_str(),
"vehicle/chassis");

odomPosesCount++;
};

transport::Node node;
auto pub = node.Advertise<msgs::Twist>("/model/vehicle/cmd_vel");
node.Subscribe("/tf_foo", pose_VCb);

msgs::Twist msg;
msgs::Set(msg.mutable_linear(), math::Vector3d(0.5, 0, 0));
msgs::Set(msg.mutable_angular(), math::Vector3d(0.0, 0, 0.2));

pub.Publish(msg);

server.Run(true, 100, false);

int sleep = 0;
Expand Down
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