Added MecanumDriveOdometry Python wrapper

[ahcorde]

🎉 New feature

Closes #548

Summary

Added MecanumDriveOdometry

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (c5c3fc4) 99.38% compared to head (811947f) 99.38%.

Additional details and impacted files

@@            Coverage Diff             @@
##           ign-math6     #549   +/-   ##
==========================================
  Coverage      99.38%   99.38%           
==========================================
  Files             75       75           
  Lines           7029     7029           
==========================================
  Hits            6986     6986           
  Misses            43       43           

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[azeey]

Is it okay if we wait till after Harmonic for this?

[ahcorde]

this is targeting Fortress, but we can wait no problem

[azeey]

this is targeting Fortress, but we can wait no problem

I understand, but I think we should focus our review efforts on beta labeled PRs.

[ahcorde]

friendly ping @azeey @scpeters or @adityapande-1995

[azeey]

Do we need py::buffer_protocol here? If so, doesn't it require implementing def_buffer (https://pybind11.readthedocs.io/en/stable/advanced/pycpp/numpy.html)

[azeey]

I don't think this has been addressed

[azeey]

Should this use startTime?

[azeey]

The C++ version uses just time1 here.

[azeey]

This is also different from the C++ test

[azeey]

Looks good overall. Just a few issues with pybind11 options and differences with the C++ test

[azeey]

Looks good overall. Just a few issues with pybind11 options and differences with the C++ test

[ahcorde]

@azeey Time is a little bit different in Python, you can take a look the DiffDriveOdometry_TEST.py test,

[ahcorde]

friendly ping @azeey

[ahcorde]

friendly ping @azeey

[azeey]

@azeey Time is a little bit different in Python, you can take a look the DiffDriveOdometry_TEST.py test,

So from the pybind11 docs, it looks like std::chrono::steady_clock::time_point is converted to datetime.timedelta. This makes it really inconvenient to use since datetime.timedelta() always returns a "0" time delta as opposed to the current monotonic (in C++ steady_clock) time. One option is to use datetime.timedelta(time.monotonic()) to initialize startTime instead of datetime.datetime.now().

[j-rivero]

@osrf-jenkins run tests

[ahcorde]

@azeey I added your feedback

[azeey]

@azeey I added your feedback

Thanks. I think now the test can be updated to match the C++ version. Specifically, odom.init(startTime) instead of odom.init(datetime.timedelta()) and remove startTime from odom.update calls.

[ahcorde]

Thanks. I think now the test can be updated to match the C++ version. Specifically, odom.init(startTime) instead of odom.init(datetime.timedelta()) and remove startTime from odom.update calls.

@azeey Included feedback