Write unit tests for transform_frame utilities #321
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Wrote part, got error: |
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@TSC21 Can you please have a look and verify the quaternion order for tranforms? |
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Test from c91e395 dont work! @TSC21 what wrong? |
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GTests are failing cause the expected outputs are wrong. For example in https://github.com/mavlink/mavros/blob/master/mavros/test/test_frame_conv.cpp#L160, |
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Also you are feeding |
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Relatively to
So I think that boost wins in this case, since we already use boost lib in our code. But again, if "like" or "not like" is a valid metric, seems I don't have much of an opinion here. |
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Solved with #322 |
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Attitude transform are wrong: https://youtu.be/Q1_wX4SEb1A |
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why you have the axis upside-down? Are you mistaking ENU and NED representations? |
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The same rotation is both applied on rpy and quaternion transformation, and both return exactly the same result. So transform is right, and I have confirmed it with math. Also @BlackCoder was able to flight test this transformation (even with POSCTL), so I don't see where this is wrong. The previous conversion you had was |
Good question to You! I replaced attitude math with xyz and got normal position of axes. |
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So simple add 180° to roll DO NOT WORK. If you want do rotation, do rotation matrix and apply it. |
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And i'm going to release in current state, without that math. |
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Well that's unexpected... I wonder how @BlackCoder got it to work then |
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So the current transforms are then x,-y,-z,roll,-pitch,-yaw? |
RULE for me: do not accept patch without wide testing from author. That PR changes all plugins code, instead of do API, test and only after that touching working code. My bad.
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Ok now i know the reason why it worked with Tarek: mocap plugin uses quaternions and the rotation on roll is transformed into a quaternion which acts as a rotation to the other one. Multiplying both results on the correct transformation. So my mistake on this, as I thougth summing the rotation was similar to applying the rotation matrix which is obviously wrong. Thanks for finding that out @vooon. |
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Why you changed quaternions transform too @vooon? Those are right cause quaternions act as a form of rotation... So th PI on Roll is converted to quaternion, and that math is right! |
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Here covariance transform with eigen: https://github.com/ros-perception/imu_pipeline/blob/indigo-devel/imu_transformer/include/imu_transformer/tf2_sensor_msgs.h#L69-L75 @TSC21 math looks exact what you statement :) |
That's exactly what I need :D thanks for pointing that @vooon. Now we need Eigen on business... |
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Can you please run imu test that i commited in test_package branch? |
Hi will, but I'm out of bandwidth now :s Note: What imu test are you referring too? Can't see any new commit on test_package... |
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APM SITL + mavros: https://youtu.be/mUIptiNbmS4 Here tested base plugins. |
* master: plugin: sys_time, sys_status #266: check that rate is zero test #321: disable tests for broken transforms. lib #321: frame transform are broken. again! revert old math. unittest: added 6x6 Covariance conversion test frame_conversions: update comments; filter covariance by value of element 0 unittests: corrected outputs from conversion tests test: other quaternion transform tests test: UAS::transform_frame_attitude_q() test: test for UAS::transform_frame_attitude_rpy() (ERRORs!) test: test for UAS::transform_frame_xyz() test: Initial import test_frame_conv
We should check what convention used by tf::Matrix to be sure that our method is compatible.
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@TSC21 please check. I wrote simple eigen-based transforms. There is no function similar to |
Add test for checking compatibility of tf::quaternionFromRPY() and Eigen based math.
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Added a test, and seems that right order is same as in MIRA quaternionFromYawPitchRoll() |
* master: plugin: imu_pub fix #320: move constants outside class, else runtime linkage error. plugin: imu_pub #320: first attempt eigen #319: handy wrappers. eigen #319: add euler-quat function. test #321: remove duplicated test cases, separate by library. test #321: testing eigen-based transforms. mavros #319: Add Eigen dependency and cmake rule. 0.12.0 Prepare release 0.12 test: import launch for imu testing test: apm sitl and imu test reproduction steps test: test for UAS::transform_frame_attitude_rpy() (ERRORs!) test: test for UAS::transform_frame_xyz() test: Initial import test_frame_conv test: Add test_marvros package stub
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Almost all test implemented, except |
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All used transforms have tests. Closing. |
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