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Feature/init on tf #40

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Feature/init on tf #40

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11c5d7b
Init pose on tf
nyxrobotics Jan 17, 2024
1bf4bfa
Refactoring
nyxrobotics Feb 7, 2024
0b1be75
Remove unused headers
nyxrobotics Feb 7, 2024
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1 change: 1 addition & 0 deletions include/nodelet/hdl_localization_nodelet.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,7 @@ class HdlLocalizationNodelet : public nodelet::Nodelet
bool tf_broadcast_;
double cool_time_duration_;
bool use_odom_;
bool init_with_tf_;
ros::Time odom_stamp_last_;

bool use_imu_;
Expand Down
73 changes: 69 additions & 4 deletions src/nodelet/hdl_localization_nodelet.cpp
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Expand Up @@ -36,6 +36,7 @@ void HdlLocalizationNodelet::onInit()
bool specify_init_pose = private_nh_.param<bool>("specify_init_pose", false);
Eigen::Vector3f init_position = Eigen::Vector3f::Zero();
Eigen::Quaternionf init_orientation = Eigen::Quaternionf::Identity();
init_with_tf_ = private_nh_.param<bool>("init_with_tf", true);
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init_with_tf_がfalseになるとどうなりますか？

if (specify_init_pose)
{
init_position.x() = private_nh_.param<double>("init_pos_x", 0.0);
Expand All @@ -46,6 +47,38 @@ void HdlLocalizationNodelet::onInit()
init_orientation.z() = private_nh_.param<double>("init_ori_z", 0.0);
init_orientation.w() = private_nh_.param<double>("init_ori_w", 1.0);
}
else if (init_with_tf_)
{
if (!tf_broadcast_ && tf_buffer_.canTransform(global_frame_id_, base_frame_id_, ros::Time(0), ros::Duration(2.0)))
{
// If global frame and base frame already exist, initial position is set to keep the relative position
geometry_msgs::TransformStamped tf_map2base =
tf_buffer_.lookupTransform(global_frame_id_, base_frame_id_, ros::Time(0));
init_position = Eigen::Vector3f(tf_map2base.transform.translation.x, tf_map2base.transform.translation.y,
tf_map2base.transform.translation.z);
init_orientation = Eigen::Quaternionf(tf_map2base.transform.rotation.w, tf_map2base.transform.rotation.x,
tf_map2base.transform.rotation.y, tf_map2base.transform.rotation.z);
NODELET_INFO("global frame(%s) and base frame(%s) exist, use them for initial pose", global_frame_id_.c_str(),
base_frame_id_.c_str());
}
else if (use_odom_ && tf_buffer_.canTransform(odom_frame_id_, base_frame_id_, ros::Time(0), ros::Duration(2.0)))
{
// If there is no global frame, also check the odom frame
geometry_msgs::TransformStamped tf_odom2base =
tf_buffer_.lookupTransform(odom_frame_id_, base_frame_id_, ros::Time(0));
init_position = Eigen::Vector3f(tf_odom2base.transform.translation.x, tf_odom2base.transform.translation.y,
tf_odom2base.transform.translation.z);
init_orientation = Eigen::Quaternionf(tf_odom2base.transform.rotation.w, tf_odom2base.transform.rotation.x,
tf_odom2base.transform.rotation.y, tf_odom2base.transform.rotation.z);
NODELET_INFO("global frame(%s) does not exist, use odom frame(%s) instead", global_frame_id_.c_str(),
odom_frame_id_.c_str());
}
else
{
NODELET_WARN("global frame(%s) and odom frame(%s) do not exist, skip initialization", global_frame_id_.c_str(),
odom_frame_id_.c_str());
}
}
// Initialize pose estimator
NODELET_INFO("initialize pose estimator with specified parameters!!");
pose_estimator_.reset(
Expand Down Expand Up @@ -460,6 +493,40 @@ bool HdlLocalizationNodelet::relocalize(std_srvs::EmptyRequest& /*req*/, std_srv
void HdlLocalizationNodelet::initialposeCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr& pose_msg)
{
NODELET_INFO("initialpose received");
// initialize tf_global2rviz on origin
geometry_msgs::TransformStamped tf_global2rviz;
tf_global2rviz.transform.translation.x = 0.0;
tf_global2rviz.transform.translation.y = 0.0;
tf_global2rviz.transform.translation.z = 0.0;
tf_global2rviz.transform.rotation.x = 0.0;
tf_global2rviz.transform.rotation.y = 0.0;
tf_global2rviz.transform.rotation.z = 0.0;
tf_global2rviz.transform.rotation.w = 1.0;
// If the origin of rviz and the global(map) frame are different, coordinate transformation is performed
if (init_with_tf_ && global_frame_id_ != pose_msg->header.frame_id && !global_frame_id_.empty() &&
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ここでinit_with_tf_フラグ必要ですか？

!pose_msg->header.frame_id.empty())
{
tf_global2rviz =
tf_buffer_.lookupTransform(global_frame_id_, pose_msg->header.frame_id, ros::Time(0), ros::Duration(2.0));
if (tf_global2rviz.header.frame_id != global_frame_id_)
{
ROS_ERROR("[Failed to get transform from %s to %s", global_frame_id_.c_str(), pose_msg->header.frame_id.c_str());
}
}
Comment on lines +469 to +473
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try-catchではダメですか？

tf2::Vector3 vec_rviz2robot(pose_msg->pose.pose.position.x, pose_msg->pose.pose.position.y,
pose_msg->pose.pose.position.z);
tf2::Quaternion q_rviz2robot(pose_msg->pose.pose.orientation.x, pose_msg->pose.pose.orientation.y,
pose_msg->pose.pose.orientation.z, pose_msg->pose.pose.orientation.w);
// Get initial pose from global to robot
tf2::Vector3 vec_global2rviz(tf_global2rviz.transform.translation.x, tf_global2rviz.transform.translation.y,
tf_global2rviz.transform.translation.z);
tf2::Quaternion q_global2rviz(tf_global2rviz.transform.rotation.x, tf_global2rviz.transform.rotation.y,
tf_global2rviz.transform.rotation.z, tf_global2rviz.transform.rotation.w);
tf2::Vector3 vec_global2robot = vec_global2rviz + (tf2::Matrix3x3(q_global2rviz) * vec_rviz2robot);
tf2::Quaternion q_global2robot = q_global2rviz * q_rviz2robot;
Eigen::Vector3f init_position = Eigen::Vector3f(vec_global2robot.x(), vec_global2robot.y(), vec_global2robot.z());
Eigen::Quaternionf init_orientation =
Comment on lines +474 to +486
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tf2_eigen.hのtf2::transformToEigenを使うとメッセージ変換が簡単にできると思います．

Eigen::Quaternionf(q_global2robot.w(), q_global2robot.x(), q_global2robot.y(), q_global2robot.z());
if (use_odom_)
{
odom_stamp_last_ = pose_msg->header.stamp;
Expand All @@ -470,10 +537,8 @@ void HdlLocalizationNodelet::initialposeCallback(const geometry_msgs::PoseWithCo
imu_data_.clear();
}
std::lock_guard<std::mutex> lock(pose_estimator_mutex_);
const auto& p = pose_msg->pose.pose.position;
const auto& q = pose_msg->pose.pose.orientation;
pose_estimator_.reset(new hdl_localization::PoseEstimator(
registration_, Eigen::Vector3f(p.x, p.y, p.z), Eigen::Quaternionf(q.w, q.x, q.y, q.z), cool_time_duration_));
pose_estimator_.reset(
new hdl_localization::PoseEstimator(registration_, init_position, init_orientation, cool_time_duration_));
}

/**
Expand Down