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Odometry should be published in robot coordinates #774

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Dec 15, 2017
Merged

Odometry should be published in robot coordinates #774

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19 changes: 8 additions & 11 deletions src/morse/sensors/odometry.py
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,7 @@ def __init__(self, obj, parent=None):

def default_action(self):
# Compute the position of the sensor within the original frame
current_pos = self.original_pos.transformation3d_with(self.position_3d)
current_pos = copy.copy(self.position_3d)

# Integrated version
self._dx = current_pos.x - self.previous_pos.x
Expand All @@ -132,16 +132,13 @@ def default_action(self):
self.local_data['pitch'] = current_pos.pitch
self.local_data['roll'] = current_pos.roll

# speed in the sensor frame, related to the robot pose
lin_vel = linear_velocities(self.previous_pos, current_pos, 1/self.frequency)
ang_vel = angular_velocities(self.previous_pos, current_pos,1/self.frequency)

self.local_data['vx'] = lin_vel[0]
self.local_data['vy'] = lin_vel[1]
self.local_data['vz'] = lin_vel[2]
self.local_data['wx'] = ang_vel[0]
self.local_data['wy'] = ang_vel[1]
self.local_data['wz'] = ang_vel[2]
self.delta_pos = self.previous_pos.transformation3d_with(current_pos)
self.local_data['vx'] = self.delta_pos.x * self.frequency
self.local_data['vy'] = self.delta_pos.y * self.frequency
self.local_data['vz'] = self.delta_pos.z * self.frequency
self.local_data['wz'] = self.delta_pos.yaw * self.frequency
self.local_data['wy'] = self.delta_pos.pitch * self.frequency
self.local_data['wx'] = self.delta_pos.roll * self.frequency

# Store the 'new' previous data
self.previous_pos = current_pos
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