Update odometry implementation in diff_drive #1854
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Codecov Report❌ Patch coverage is Additional details and impacted files@@ Coverage Diff @@
## master #1854 +/- ##
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- Coverage 85.98% 85.75% -0.24%
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Files 129 129
Lines 13112 13150 +38
Branches 1144 1148 +4
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+ Hits 11275 11277 +2
- Misses 1469 1506 +37
+ Partials 368 367 -1
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| bool updateFromVelocity(double left_vel, double right_vel, const rclcpp::Time & time); | ||
| [[deprecated( | ||
| "Replaced by bool updateOpenLoop(const double & linear_vel, const double & angular_vel, const " |
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| "Replaced by bool updateOpenLoop(const double & linear_vel, const double & angular_vel, const " | |
| "Replaced by bool tryUpdateOpenLoop(const double & linear_vel, const double & angular_vel, const " |
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Fixed in commit 629cf5e,
diff_drive_controller/include/diff_drive_controller/odometry.hpp
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diff_drive_controller/include/diff_drive_controller/odometry.hpp
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| bool Odometry::updateFromVel( | ||
| const double & left_vel, const double & right_vel, const rclcpp::Time & time) | ||
| { | ||
| const double dt = time.seconds() - timestamp_.seconds(); |
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this is exactly the pattern mentioned with #271 to be removed?
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Sorry, I should have explained this in the PR description.
The reasoning here is the same as that of this #260 (comment).
Additionally, timestamp_ records the last time an update was run; therefore, the correct value of dt can only be obtained from there.
It is used in this function despite (std::fabs(dt) < 1e-6) not being used, as it is also called from updateFromPos() which uses the timestamp_ variable.
| linear_ = linear_vel; | ||
| angular_ = angular_vel; | ||
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| return true; |
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why a return value, which is always true?
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This is there to maintain consistency with other update methods, make it easier to add code to this function in the future that may return false, and make the diff_drive_controller.cpp code simpler.
updateFromVel() also has this line for the same reason.
I can change everything back to the normal updateOpenLoop() function if needed, though.
| odometry_.updateFromVelocity( | ||
| left_feedback_mean * left_wheel_radius * period.seconds(), | ||
| right_feedback_mean * right_wheel_radius * period.seconds(), time); | ||
| odometry_updated = odometry_.updateFromVel(left_feedback_mean, right_feedback_mean, time); |
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where did the wheel_radius go?
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My bad! This was meant to be multiplied in the updateFromVel() function. Fixed with d387750.
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Fixes #271.
Fixes #357.
I have updated the odometry implementation of the
diff_drive_controllerto fix the above two issues alongside improving the code's readability. This implementation is similar to that ofomni_wheel_drive_controller.I have created some new methods and deprecated the older ones.
Should I also make similar changes to other controllers? If yes, should I do that in a separate PR?