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populate imu covariances when converting #375

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merged 8 commits into from
Sep 25, 2023
Merged

populate imu covariances when converting #375

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862a56e
populate imu covariances when converting
ejalaa12 Mar 15, 2023
cd666b5
fixed unit test
ejalaa12 Apr 11, 2023
66b6ba7
Merge branch 'ros2' into imu_covariance
mjcarroll Aug 29, 2023
184f0fd
Test covariance when it is supported
mjcarroll Aug 29, 2023
61848c0
Lint
mjcarroll Aug 31, 2023
15acb0c
Undo NavSat changes
mjcarroll Aug 31, 2023
e505346
One index covariance entries
mjcarroll Aug 31, 2023
02b5fd5
fix unit tesr by offsettinx index by one
ejalaa12 Sep 25, 2023
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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 @@ -807,6 +811,13 @@ 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 @@ -815,6 +826,13 @@ 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 @@ -1064,6 +1070,11 @@ 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 @@ -1072,6 +1083,14 @@ 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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