Code

Odometry readjustement#28

Code

Merged

PhileasL merged 25 commits intomasterrobotique-ecam/cdfr:masterfrom odometry_readjustementrobotique-ecam/cdfr:odometry_readjustementCopy head branch name to clipboardFeb 7, 2021

+272-36

Commits

Commits on Feb 1, 2021

• add service adjust_odometry

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• add service caller adjust odometry + update tf map->odom on readjust

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Commits on Feb 2, 2021

• rework on robot_param controller and adding inflation layer costmap

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• storing 20 tf + retrieve the tf near the stamp of the tf in callback

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Commits on Feb 3, 2021

• simulation get_sim_time + true quaternion from sim

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• condition change + managing extreme indexes

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• extract_pose_from_transform + set_transform_from_pose functions

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• algorithm to get base_link_relative_to_new_odom tf

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• sending new tf and new odom with readjustement

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• Init _previous_tf vector + adding dependency to cmakelist

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• TransformBroadcaster + 'adjust_odometry' publisher + quaternion_to_euler

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Commits on Feb 4, 2021

• Changing odometry_readjustement strategy, removing service

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• Re-basculing to static map to odom transform

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• Getting the static map to odom transform

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• use sim time + clean all traces of service 'ajust_odometry'

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• The key is to update variables instead of tf !

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• strange behavior of tf2::doTransform, need my own functions

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• It might be all the functions i need

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• setting up the idea, need to fill the functions now

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• almost working, adding a dummy function to avoid odom sliding

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• Little tweaking on tf, working good now !

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• A static transformation need to be publish only once + little fixes

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• Publishing the robot transformation for drive to readjust odometry

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Commits on Feb 5, 2021

• small fix, can now recalibrate even if the information is .75s from past

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• teb_local_planner no longer turn 2*180° for a simple backward drive

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