wheel_odometry.cpp

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/*
 * Copyright 2017 Pavlo Kolomiiets.
 *
 * This file is part of the mavros package and subject to the license terms
 * in the top-level LICENSE file of the mavros repository.
 * https://github.com/mavlink/mavros/tree/master/LICENSE.md
 */

#include <mavros/mavros_plugin.h>
#include <mavros_msgs/WheelOdomStamped.h>

#include <geometry_msgs/TwistWithCovarianceStamped.h>
#include <nav_msgs/Odometry.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2/LinearMath/Matrix3x3.h>
#include <tf2_eigen/tf2_eigen.h>

namespace mavros {
namespace extra_plugins {
class WheelOdometryPlugin : public plugin::PluginBase {
public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW

        WheelOdometryPlugin() : PluginBase(),
                wo_nh("~wheel_odometry"),
                count(0),
                odom_mode(OM::NONE),
                raw_send(false),
                twist_send(false),
                tf_send(false),
                yaw_initialized(false),
                rpose(Eigen::Vector3d::Zero()),
                rtwist(Eigen::Vector3d::Zero()),
                rpose_cov(Eigen::Matrix3d::Zero()),
                rtwist_cov(Eigen::Vector3d::Zero())
        { }

        void initialize(UAS &uas_) override
        {
                PluginBase::initialize(uas_);

                // General params
                wo_nh.param("send_raw", raw_send, false);
                // Wheels configuration
                wo_nh.param("count", count, 2);
                count = std::max(1, count); // bound check

                bool use_rpm;
                wo_nh.param("use_rpm", use_rpm, false);
                if (use_rpm)
                        odom_mode = OM::RPM;
                else
                        odom_mode = OM::DIST;

                // Odometry params
                wo_nh.param("send_twist", twist_send, false);
                wo_nh.param<std::string>("frame_id", frame_id, "odom");
                wo_nh.param<std::string>("child_frame_id", child_frame_id, "base_link");
                wo_nh.param("vel_error", vel_cov, 0.1);
                vel_cov = vel_cov*vel_cov; // std -> cov
                // TF subsection
                wo_nh.param("tf/send", tf_send, false);
                wo_nh.param<std::string>("tf/frame_id", tf_frame_id, "odom");
                wo_nh.param<std::string>("tf/child_frame_id", tf_child_frame_id, "base_link");

                // Read parameters for each wheel.
                {
                        int iwheel = 0;
                        while (true) {
                                // Build the string in the form "wheelX", where X is the wheel number.
                                // Check if we have "wheelX" parameter.
                                // Indices starts from 0 and should increase without gaps.
                                auto name = utils::format("wheel%i", iwheel++);

                                // Check if we have "wheelX" parameter
                                if (!wo_nh.hasParam(name)) break;

                                // Read
                                Eigen::Vector2d offset;
                                double radius;

                                wo_nh.param(name+"/x", offset[0], 0.0);
                                wo_nh.param(name+"/y", offset[1], 0.0);
                                wo_nh.param(name+"/radius", radius, 0.05);

                                wheel_offset.push_back(offset);
                                wheel_radius.push_back(radius);
                        }

                        // Check for all wheels specified
                        if (wheel_offset.size() >= count) {
                                // Duplicate 1st wheel if only one is available.
                                // This generalizes odometry computations for 1- and 2-wheels configurations.
                                if (wheel_radius.size() == 1) {
                                        wheel_offset.resize(2);
                                        wheel_radius.resize(2);
                                        wheel_offset[1].x() = wheel_offset[0].x();
                                        wheel_offset[1].y() = wheel_offset[0].y() + 1.0; // make separation non-zero to avoid div-by-zero
                                        wheel_radius[1] = wheel_radius[0];
                                }

                                // Check for non-zero wheel separation (first two wheels)
                                double separation = std::abs(wheel_offset[1].y() - wheel_offset[0].y());
                                if (separation < 1.e-5) {
                                        odom_mode = OM::NONE;
                                        ROS_WARN_NAMED("wo", "WO: Separation between the first two wheels is too small (%f).", separation);
                                }

                                // Check for reasonable radiuses
                                for (int i = 0; i < wheel_radius.size(); i++) {
                                        if (wheel_radius[i] <= 1.e-5) {
                                                odom_mode = OM::NONE;
                                                ROS_WARN_NAMED("wo", "WO: Wheel #%i has incorrect radius (%f).", i, wheel_radius[i]);
                                        }
                                }
                        }
                        else {
                                odom_mode = OM::NONE;
                                ROS_WARN_NAMED("wo", "WO: Not all wheels have parameters specified (%lu/%i).", wheel_offset.size(), count);
                        }
                }

                // Advertise RPM-s and distance-s
                if (raw_send) {
                        rpm_pub = wo_nh.advertise<mavros_msgs::WheelOdomStamped>("rpm", 10);
                        dist_pub = wo_nh.advertise<mavros_msgs::WheelOdomStamped>("distance", 10);
                }

                // Advertize topics
                if (odom_mode != OM::NONE) {
                        if (twist_send)
                                twist_pub = wo_nh.advertise<geometry_msgs::TwistWithCovarianceStamped>("velocity", 10);
                        else
                                odom_pub = wo_nh.advertise<nav_msgs::Odometry>("odom", 10);
                }
                // No-odometry warning
                else
                        ROS_WARN_NAMED("wo", "WO: No odometry computations will be performed.");

        }

        Subscriptions get_subscriptions() override
        {
                return {
                        make_handler(&WheelOdometryPlugin::handle_rpm),
                        make_handler(&WheelOdometryPlugin::handle_wheel_distance)
                };
        }

private:
        ros::NodeHandle wo_nh;

        ros::Publisher rpm_pub;
        ros::Publisher dist_pub;
        ros::Publisher odom_pub;
        ros::Publisher twist_pub;

        enum class OM {
                NONE,   
                RPM,    
                DIST    
        };
        OM odom_mode; 

        int count;              
        bool raw_send;          
        std::vector<Eigen::Vector2d> wheel_offset; 
        std::vector<double> wheel_radius; 

        bool twist_send;                
        bool tf_send;                   
        std::string frame_id;           
        std::string child_frame_id;     
        std::string tf_frame_id;        
        std::string tf_child_frame_id;  
        double vel_cov;                 

        int count_meas;                         
        ros::Time time_prev;                    
        std::vector<double> measurement_prev;   

        bool yaw_initialized;                   

        Eigen::Vector3d rpose;          
        Eigen::Vector3d rtwist;         
        Eigen::Matrix3d rpose_cov;      
        Eigen::Vector3d rtwist_cov;     

        void publish_odometry(ros::Time time)
        {
                // Get initial yaw (from IMU)
                // Check that IMU was already initialized
                if (!yaw_initialized && m_uas->get_attitude_imu_enu()) {
                        double yaw = ftf::quaternion_get_yaw(ftf::to_eigen(m_uas->get_attitude_orientation_enu()));

                        // Rotate current pose by initial yaw
                        Eigen::Rotation2Dd rot(yaw);
                        rpose.head(2) = rot * rpose.head(2); // x,y
                        rpose(2) += yaw; // yaw

                        ROS_INFO_NAMED("wo", "WO: Initial yaw (deg): %f", yaw/M_PI*180.0);
                        yaw_initialized = true;
                }

                // Orientation (only if we have initial yaw)
                geometry_msgs::Quaternion quat;
                if (yaw_initialized)
                        quat = tf2::toMsg(ftf::quaternion_from_rpy(0.0, 0.0, rpose(2)));

                // Twist
                geometry_msgs::TwistWithCovariance twist_cov;
                // linear
                twist_cov.twist.linear.x = rtwist(0);
                twist_cov.twist.linear.y = rtwist(1);
                twist_cov.twist.linear.z = 0.0;
                // angular
                twist_cov.twist.angular.x = 0.0;
                twist_cov.twist.angular.y = 0.0;
                twist_cov.twist.angular.z = rtwist(2);
                // covariance
                ftf::EigenMapCovariance6d twist_cov_map(twist_cov.covariance.data());
                twist_cov_map.setZero();
                twist_cov_map.block<2, 2>(0, 0).diagonal() << rtwist_cov(0), rtwist_cov(1);
                twist_cov_map.block<1, 1>(5, 5).diagonal() << rtwist_cov(2);

                // Publish twist
                if (twist_send) {
                        auto twist_cov_t = boost::make_shared<geometry_msgs::TwistWithCovarianceStamped>();
                        // header
                        twist_cov_t->header.stamp = time;
                        twist_cov_t->header.frame_id = frame_id;
                        // twist
                        twist_cov_t->twist = twist_cov;
                        // publish
                        twist_pub.publish(twist_cov_t);
                }
                // Publish odometry (only if we have initial yaw)
                else if (yaw_initialized) {
                        auto odom = boost::make_shared<nav_msgs::Odometry>();
                        // header
                        odom->header.stamp = time;
                        odom->header.frame_id = frame_id;
                        odom->child_frame_id = child_frame_id;
                        // pose
                        odom->pose.pose.position.x = rpose(0);
                        odom->pose.pose.position.y = rpose(1);
                        odom->pose.pose.position.z = 0.0;
                        odom->pose.pose.orientation = quat;
                        ftf::EigenMapCovariance6d pose_cov_map(odom->pose.covariance.data());
                        pose_cov_map.block<2, 2>(0, 0) << rpose_cov.block<2, 2>(0, 0);
                        pose_cov_map.block<2, 1>(0, 5) << rpose_cov.block<2, 1>(0, 2);
                        pose_cov_map.block<1, 2>(5, 0) << rpose_cov.block<1, 2>(2, 0);
                        pose_cov_map.block<1, 1>(5, 5) << rpose_cov.block<1, 1>(2, 2);
                        // twist
                        odom->twist = twist_cov;
                        // publish
                        odom_pub.publish(odom);
                }

                // Publish TF (only if we have initial yaw)
                if (tf_send && yaw_initialized) {
                        geometry_msgs::TransformStamped transform;
                        // header
                        transform.header.stamp = time;
                        transform.header.frame_id = tf_frame_id;
                        transform.child_frame_id = tf_child_frame_id;
                        // translation
                        transform.transform.translation.x = rpose(0);
                        transform.transform.translation.y = rpose(1);
                        transform.transform.translation.z = 0.0;
                        // rotation
                        transform.transform.rotation = quat;
                        // publish
                        m_uas->tf2_broadcaster.sendTransform(transform);
                }
        }

        void update_odometry_diffdrive(std::vector<double> distance, double dt)
        {
                double y0 = wheel_offset[0](1);
                double y1 = wheel_offset[1](1);
                double a = -wheel_offset[0](0);
                double dy_inv = 1.0 / (y1 - y0);
                double dt_inv = 1.0 / dt;

                // Rotation angle
                double theta = (distance[1] - distance[0]) * dy_inv;
                // Distance traveled by the projection of origin onto the axis connecting the wheels (Op)
                double L = (y1 * distance[0] - y0 * distance[1]) * dy_inv;

                // Instantenous pose update in local (robot) coordinate system (vel*dt)
                Eigen::Vector3d v(L, a*theta, theta);
                // Instantenous local twist
                rtwist = v * dt_inv;

                // Compute local pose update (approximate).
                // In the book a=0 and |y0|=|y1|, additionally.
                // dx = L*cos(theta/2) - a*theta*sin(theta/2)
                // dy = L*sin(theta/2) + a*theta*cos(theta/2)
                // Compute local pose update (exact)
                // dx = a*(cos(theta)-1) + R*sin(theta)
                // dy = a*sin(theta) - R*(cos(theta)-1)
                // where R - rotation radius of Op around ICC (R = L/theta).
                double cos_theta = std::cos(theta);
                double sin_theta = std::sin(theta);
                double p; // sin(theta)/theta
                double q; // (1-cos(theta))/theta
                if (std::abs(theta) > 1.e-5) {
                        p = sin_theta / theta;
                        q = (1.0 - cos_theta) / theta;
                }
                // Limits for theta -> 0
                else {
                        p = 1.0;
                        q = 0.0;
                }

                // Local pose update matrix
                Eigen::Matrix3d M;
                M << p, -q,  0,
                         q,  p,  0,
                         0,  0,  1;

                // Local pose update
                Eigen::Vector3d dpose = M * v;

                // Rotation by yaw
                double cy = std::cos(rpose(2));
                double sy = std::sin(rpose(2));
                Eigen::Matrix3d R;
                R << cy, -sy,  0,
                         sy,  cy,  0,
                          0,   0,  1;

                // World pose
                rpose += R * dpose;
                rpose(2) = fmod(rpose(2), 2.0*M_PI); // Clamp to (-2*PI, 2*PI)

                // Twist errors (constant in time)
                if (rtwist_cov(0) == 0.0) {
                        rtwist_cov(0) = vel_cov * (y0*y0 + y1*y1) * dy_inv*dy_inv; // vx_cov
                        rtwist_cov(1) = vel_cov * a*a * 2.0 * dy_inv*dy_inv + 0.001; // vy_cov (add extra error, otherwise vy_cov= 0 if a=0)
                        rtwist_cov(2) = vel_cov * 2.0 * dy_inv*dy_inv; // vyaw_cov
                }

                // Pose errors (accumulated in time).
                // Exact formulations respecting kinematic equations.
                // dR/dYaw
                Eigen::Matrix3d R_yaw;
                R_yaw << -sy, -cy,  0,
                                  cy, -sy,  0,
                                   0,   0,  0;
                // dYaw/dPose
                Eigen::Vector3d yaw_pose(0, 0, 1);
                // Jacobian by previous pose
                Eigen::Matrix3d J_pose = Eigen::Matrix3d::Identity() + R_yaw * dpose * yaw_pose.transpose();

                // dL,dTheta / dL0,dL1
                double L_L0 = y1 * dy_inv;
                double L_L1 = -y0 * dy_inv;
                double theta_L0 = -dy_inv;
                double theta_L1 = dy_inv;
                // dv/dMeasurement
                Eigen::Matrix<double, 3, 2> v_meas;
                v_meas <<       L_L0,       L_L1,
                                  a*theta_L0, a*theta_L1,
                                        theta_L0,   theta_L1;
                // dTheta/dMeasurement
                Eigen::Vector2d theta_meas(theta_L0, theta_L1);
                // dM/dTheta
                double px; // dP/dTheta
                double qx; // dQ/dTheta
                if (std::abs(theta) > 1.e-5) {
                        px = (theta*cos_theta - sin_theta) / (theta*theta);
                        qx = (theta*sin_theta - (1-cos_theta)) / (theta*theta);
                }
                // Limits for theta -> 0
                else {
                        px = 0;
                        qx = 0.5;
                }
                // dM/dTheta
                Eigen::Matrix3d M_theta;
                M_theta << px, -qx,  0,
                                   qx,  px,  0,
                                        0,   0,  0;
                // Jacobian by measurement
                Eigen::Matrix<double, 3, 2> J_meas = R * (M * v_meas + M_theta * v * theta_meas.transpose());

                // Measurement cov
                double L0_cov = vel_cov * dt*dt;
                double L1_cov = vel_cov * dt*dt;
                Eigen::Matrix2d meas_cov;
                meas_cov << L0_cov,     0,
                                                 0, L1_cov;

                // Update pose cov
                rpose_cov = J_pose * rpose_cov * J_pose.transpose() + J_meas * meas_cov * J_meas.transpose();
        }

        void update_odometry(std::vector<double> distance, double dt)
        {
                // Currently, only 2-wheels configuration implemented
                int nwheels = std::min(2, (int)distance.size());
                switch (nwheels)
                {
                // Differential drive robot.
                case 2:
                        update_odometry_diffdrive(distance, dt);
                        break;
                }
        }

        void process_measurement(std::vector<double> measurement, bool rpm, ros::Time time, ros::Time time_pub)
        {
                // Initial measurement
                if (time_prev == ros::Time(0)) {
                        count_meas = measurement.size();
                        measurement_prev.resize(count_meas);
                        count = std::min(count, count_meas); // don't try to use more wheels than we have
                }
                // Same time stamp (messages are generated by FCU more often than the wheel state updated)
                else if (time == time_prev) {
                        return;
                }
                // # of wheels differs from the initial value
                else if (measurement.size() != count_meas) {
                        ROS_WARN_THROTTLE_NAMED(10, "wo", "WO: Number of wheels in measurement (%lu) differs from the initial value (%i).", measurement.size(), count_meas);
                        return;
                }
                // Compute odometry
                else {
                        double dt = (time - time_prev).toSec(); // Time since previous measurement (s)

                        // Distance traveled by each wheel since last measurement.
                        // Reserve for at least 2 wheels.
                        std::vector<double> distance(std::max(2, count));
                        // Compute using RPM-s
                        if (rpm) {
                                for (int i = 0; i < count; i++) {
                                        double RPM_2_SPEED = wheel_radius[i] * 2.0 * M_PI / 60.0; // RPM -> speed (m/s)
                                        double rpm = 0.5 * (measurement[i] + measurement_prev[i]); // Mean RPM during last dt seconds
                                        distance[i] = rpm * RPM_2_SPEED * dt;
                                }
                        }
                        // Compute using cumulative distances
                        else {
                                for (int i = 0; i < count; i++)
                                        distance[i] = measurement[i] - measurement_prev[i];
                        }

                        // Make distance of the 2nd wheel equal to that of the 1st one if requested or only one is available.
                        // This generalizes odometry computations for 1- and 2-wheels configurations.
                        if (count == 1)
                                distance[1] = distance[0];

                        // Update odometry
                        update_odometry(distance, dt);

                        // Publish odometry
                        publish_odometry(time_pub);
                }

                // Time step
                time_prev = time;
                std::copy_n(measurement.begin(), measurement.size(), measurement_prev.begin());
        }

        /* -*- message handlers -*- */

        void handle_rpm(const mavlink::mavlink_message_t *msg, mavlink::ardupilotmega::msg::RPM &rpm)
        {
                // Get ROS timestamp of the message
                ros::Time timestamp =  ros::Time::now();

                // Publish RPM-s
                if (raw_send) {
                        auto rpm_msg = boost::make_shared<mavros_msgs::WheelOdomStamped>();

                        rpm_msg->header.stamp = timestamp;
                        rpm_msg->data.resize(2);
                        rpm_msg->data[0] = rpm.rpm1;
                        rpm_msg->data[1] = rpm.rpm2;

                        rpm_pub.publish(rpm_msg);
                }

                // Process measurement
                if (odom_mode == OM::RPM) {
                        std::vector<double> measurement{rpm.rpm1, rpm.rpm2};
                        process_measurement(measurement, true, timestamp, timestamp);
                }
        }

        void handle_wheel_distance(const mavlink::mavlink_message_t *msg, mavlink::common::msg::WHEEL_DISTANCE &wheel_dist)
        {
                // Check for bad wheels count
                if (wheel_dist.count == 0)
                        return;

                // Get ROS timestamp of the message
                ros::Time timestamp = m_uas->synchronise_stamp(wheel_dist.time_usec);
                // Get internal timestamp of the message
                ros::Time timestamp_int = ros::Time(wheel_dist.time_usec / 1000000UL,  1000UL * (wheel_dist.time_usec % 1000000UL));

                // Publish distances
                if (raw_send) {
                        auto wheel_dist_msg = boost::make_shared<mavros_msgs::WheelOdomStamped>();

                        wheel_dist_msg->header.stamp = timestamp;
                        wheel_dist_msg->data.resize(wheel_dist.count);
                        std::copy_n(wheel_dist.distance.begin(), wheel_dist.count, wheel_dist_msg->data.begin());

                        dist_pub.publish(wheel_dist_msg);
                }

                // Process measurement
                if (odom_mode == OM::DIST) {
                        std::vector<double> measurement(wheel_dist.count);
                        std::copy_n(wheel_dist.distance.begin(), wheel_dist.count, measurement.begin());
                        process_measurement(measurement, false, timestamp_int, timestamp);
                }
        }
};
}       // namespace extra_plugins
}       // namespace mavros

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(mavros::extra_plugins::WheelOdometryPlugin, mavros::plugin::PluginBase)