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Backport Imu Covariance (#375) to ros2 humble / gz harmonic #488

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merged 1 commit into from
Jan 23, 2024
Merged

Backport Imu Covariance (#375) to ros2 humble / gz harmonic #488

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42 changes: 41 additions & 1 deletion ros_gz_bridge/src/convert/sensor_msgs.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,12 @@
#include "convert/utils.hpp"
#include "ros_gz_bridge/convert/sensor_msgs.hpp"

#include "gz/msgs/config.hh"

#if GZ_MSGS_MAJOR_VERSION >= 10
#define GZ_MSGS_IMU_HAS_COVARIANCE
#endif

namespace ros_gz_bridge
{

Expand Down Expand Up @@ -274,6 +280,18 @@ convert_ros_to_gz(
convert_ros_to_gz(ros_msg.orientation, (*gz_msg.mutable_orientation()));
convert_ros_to_gz(ros_msg.angular_velocity, (*gz_msg.mutable_angular_velocity()));
convert_ros_to_gz(ros_msg.linear_acceleration, (*gz_msg.mutable_linear_acceleration()));

#ifdef GZ_MSGS_IMU_HAS_COVARIANCE
for (const auto & elem : ros_msg.linear_acceleration_covariance) {
gz_msg.mutable_linear_acceleration_covariance()->add_data(elem);
}
for (const auto & elem : ros_msg.orientation_covariance) {
gz_msg.mutable_orientation_covariance()->add_data(elem);
}
for (const auto & elem : ros_msg.angular_velocity_covariance) {
gz_msg.mutable_angular_velocity_covariance()->add_data(elem);
}
#endif
}

template<>
Expand All @@ -287,7 +305,29 @@ convert_gz_to_ros(
convert_gz_to_ros(gz_msg.angular_velocity(), ros_msg.angular_velocity);
convert_gz_to_ros(gz_msg.linear_acceleration(), ros_msg.linear_acceleration);

// Covariances not supported in gz::msgs::IMU
#ifdef GZ_MSGS_IMU_HAS_COVARIANCE
int data_size = gz_msg.linear_acceleration_covariance().data_size();
if (data_size == 9) {
for (int i = 0; i < data_size; ++i) {
auto data = gz_msg.linear_acceleration_covariance().data()[i];
ros_msg.linear_acceleration_covariance[i] = data;
}
}
data_size = gz_msg.angular_velocity_covariance().data_size();
if (data_size == 9) {
for (int i = 0; i < data_size; ++i) {
auto data = gz_msg.angular_velocity_covariance().data()[i];
ros_msg.angular_velocity_covariance[i] = data;
}
}
data_size = gz_msg.orientation_covariance().data_size();
if (data_size == 9) {
for (int i = 0; i < data_size; ++i) {
auto data = gz_msg.orientation_covariance().data()[i];
ros_msg.orientation_covariance[i] = data;
}
}
#endif
}

template<>
Expand Down
18 changes: 18 additions & 0 deletions ros_gz_bridge/test/utils/gz_test_msg.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,10 @@
#include <memory>
#include <string>

#if GZ_MSGS_MAJOR_VERSION >= 10
#define GZ_MSGS_IMU_HAS_COVARIANCE
#endif

namespace ros_gz_bridge
{
namespace testing
Expand Down Expand Up @@ -810,6 +814,13 @@ void createTestMsg(gz::msgs::IMU & _msg)
_msg.mutable_orientation()->CopyFrom(quaternion_msg);
_msg.mutable_angular_velocity()->CopyFrom(vector3_msg);
_msg.mutable_linear_acceleration()->CopyFrom(vector3_msg);
#ifdef GZ_MSGS_IMU_HAS_COVARIANCE
for (int i = 0; i < 9; i++) {
_msg.mutable_orientation_covariance()->add_data(i + 1);
_msg.mutable_angular_velocity_covariance()->add_data(i + 1);
_msg.mutable_linear_acceleration_covariance()->add_data(i + 1);
}
#endif
}

void compareTestMsg(const std::shared_ptr<gz::msgs::IMU> & _msg)
Expand All @@ -818,6 +829,13 @@ void compareTestMsg(const std::shared_ptr<gz::msgs::IMU> & _msg)
compareTestMsg(std::make_shared<gz::msgs::Quaternion>(_msg->orientation()));
compareTestMsg(std::make_shared<gz::msgs::Vector3d>(_msg->angular_velocity()));
compareTestMsg(std::make_shared<gz::msgs::Vector3d>(_msg->linear_acceleration()));
#ifdef GZ_MSGS_IMU_HAS_COVARIANCE
for (int i = 0; i < 9; i++) {
EXPECT_EQ(_msg->orientation_covariance().data(i), i + 1);
EXPECT_EQ(_msg->angular_velocity_covariance().data(i), i + 1);
EXPECT_EQ(_msg->linear_acceleration_covariance().data(i), i + 1);
}
#endif
}

void createTestMsg(gz::msgs::Axis & _msg)
Expand Down
19 changes: 19 additions & 0 deletions ros_gz_bridge/test/utils/ros_test_msg.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,12 @@
#include <memory>
#include <string>

#include "gz/msgs/config.hh"

#if GZ_MSGS_MAJOR_VERSION >= 10
#define GZ_MSGS_IMU_HAS_COVARIANCE
#endif

namespace ros_gz_bridge
{
namespace testing
Expand Down Expand Up @@ -1022,6 +1028,11 @@ void createTestMsg(sensor_msgs::msg::Imu & _msg)
_msg.orientation = quaternion_msg;
_msg.angular_velocity = vector3_msg;
_msg.linear_acceleration = vector3_msg;
#ifdef GZ_MSGS_IMU_HAS_COVARIANCE
_msg.orientation_covariance = {1, 2, 3, 4, 5, 6, 7, 8, 9};
_msg.angular_velocity_covariance = {1, 2, 3, 4, 5, 6, 7, 8, 9};
_msg.linear_acceleration_covariance = {1, 2, 3, 4, 5, 6, 7, 8, 9};
#endif
}

void compareTestMsg(const std::shared_ptr<sensor_msgs::msg::Imu> & _msg)
Expand All @@ -1030,6 +1041,14 @@ void compareTestMsg(const std::shared_ptr<sensor_msgs::msg::Imu> & _msg)
compareTestMsg(_msg->orientation);
compareTestMsg(std::make_shared<geometry_msgs::msg::Vector3>(_msg->angular_velocity));
compareTestMsg(std::make_shared<geometry_msgs::msg::Vector3>(_msg->linear_acceleration));

#ifdef GZ_MSGS_IMU_HAS_COVARIANCE
for (int i = 0; i < 9; ++i) {
EXPECT_EQ(_msg->orientation_covariance[i], i + 1);
EXPECT_EQ(_msg->angular_velocity_covariance[i], i + 1);
EXPECT_EQ(_msg->linear_acceleration_covariance[i], i + 1);
}
#endif
}

void createTestMsg(sensor_msgs::msg::JointState & _msg)
Expand Down
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