Program Listing for File odometry_2d_publisher_params.hpp
↰ Return to documentation for file (include/fuse_models/parameters/odometry_2d_publisher_params.hpp)
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2019, Locus Robotics
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef FUSE_MODELS__PARAMETERS__ODOMETRY_2D_PUBLISHER_PARAMS_HPP_
#define FUSE_MODELS__PARAMETERS__ODOMETRY_2D_PUBLISHER_PARAMS_HPP_
#include <ceres/covariance.h>
#include <algorithm>
#include <cassert>
#include <string>
#include <vector>
#include <fuse_models/parameters/parameter_base.hpp>
#include <fuse_core/ceres_options.hpp>
#include <fuse_core/eigen.hpp>
#include <fuse_core/parameter.hpp>
#include <rclcpp/logging.hpp>
namespace fuse_models
{
namespace parameters
{
struct Odometry2DPublisherParams : public ParameterBase
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
void loadFromROS(
fuse_core::node_interfaces::NodeInterfaces<
fuse_core::node_interfaces::Base,
fuse_core::node_interfaces::Logging,
fuse_core::node_interfaces::Parameters
> interfaces,
const std::string & ns)
{
publish_tf = fuse_core::getParam(
interfaces, fuse_core::joinParameterName(
ns,
"publish_tf"),
publish_tf);
invert_tf = fuse_core::getParam(
interfaces, fuse_core::joinParameterName(
ns,
"invert_tf"),
invert_tf);
predict_to_current_time =
fuse_core::getParam(
interfaces, fuse_core::joinParameterName(
ns,
"predict_to_current_time"),
predict_to_current_time);
predict_with_acceleration =
fuse_core::getParam(
interfaces, fuse_core::joinParameterName(
ns,
"predict_with_acceleration"),
predict_with_acceleration);
publish_frequency =
fuse_core::getParam(
interfaces, fuse_core::joinParameterName(
ns,
"publish_frequency"),
publish_frequency);
process_noise_covariance = fuse_core::getCovarianceDiagonalParam<8>(
interfaces, fuse_core::joinParameterName(
ns,
"process_noise_diagonal"), 0.0);
scale_process_noise =
fuse_core::getParam(
interfaces, fuse_core::joinParameterName(
ns,
"scale_process_noise"),
scale_process_noise);
velocity_norm_min =
fuse_core::getParam(
interfaces, fuse_core::joinParameterName(
ns,
"velocity_norm_min"),
velocity_norm_min);
fuse_core::getPositiveParam(
interfaces,
fuse_core::joinParameterName(
ns,
"covariance_throttle_period"), covariance_throttle_period,
false);
fuse_core::getPositiveParam(
interfaces, fuse_core::joinParameterName(
ns,
"tf_cache_time"), tf_cache_time,
false);
fuse_core::getPositiveParam(
interfaces, fuse_core::joinParameterName(
ns,
"tf_timeout"), tf_timeout,
false);
queue_size = fuse_core::getParam(
interfaces, fuse_core::joinParameterName(
ns,
"queue_size"),
queue_size);
map_frame_id = fuse_core::getParam(
interfaces, fuse_core::joinParameterName(
ns,
"map_frame_id"),
map_frame_id);
odom_frame_id = fuse_core::getParam(
interfaces, fuse_core::joinParameterName(
ns,
"odom_frame_id"),
odom_frame_id);
base_link_frame_id =
fuse_core::getParam(
interfaces, fuse_core::joinParameterName(
ns,
"base_link_frame_id"),
base_link_frame_id);
base_link_output_frame_id =
fuse_core::getParam(
interfaces, fuse_core::joinParameterName(
ns,
"base_link_output_frame_id"),
base_link_output_frame_id);
world_frame_id =
fuse_core::getParam(
interfaces, fuse_core::joinParameterName(
ns,
"world_frame_id"),
world_frame_id);
const bool frames_valid =
map_frame_id != odom_frame_id &&
map_frame_id != base_link_frame_id &&
map_frame_id != base_link_output_frame_id &&
odom_frame_id != base_link_frame_id &&
odom_frame_id != base_link_output_frame_id &&
(world_frame_id == map_frame_id || world_frame_id == odom_frame_id);
if (!frames_valid) {
RCLCPP_FATAL_STREAM(
interfaces.get_node_logging_interface()->get_logger(),
"Invalid frame configuration! Please note:\n"
<< " - The values for map_frame_id, odom_frame_id, and base_link_frame_id must be "
<< "unique\n"
<< " - The values for map_frame_id, odom_frame_id, and base_link_output_frame_id must be "
<< "unique\n"
<< " - The world_frame_id must be the same as the map_frame_id or odom_frame_id\n");
assert(frames_valid);
}
topic = fuse_core::getParam(interfaces, fuse_core::joinParameterName(ns, "topic"), topic);
acceleration_topic =
fuse_core::getParam(
interfaces, fuse_core::joinParameterName(
ns,
"acceleration_topic"),
acceleration_topic);
fuse_core::loadCovarianceOptionsFromROS(interfaces, covariance_options, "covariance_options");
}
bool publish_tf {true};
bool invert_tf{false};
bool predict_to_current_time {false};
bool predict_with_acceleration {false};
double publish_frequency {10.0};
fuse_core::Matrix8d process_noise_covariance;
bool scale_process_noise{false};
double velocity_norm_min{1e-3};
rclcpp::Duration covariance_throttle_period {0, 0};
rclcpp::Duration tf_cache_time {10, 0};
rclcpp::Duration tf_timeout {0, static_cast<uint32_t>(RCUTILS_S_TO_NS(0.1))};
int queue_size {1};
std::string map_frame_id {"map"};
std::string odom_frame_id {"odom"};
std::string base_link_frame_id {"base_link"};
std::string base_link_output_frame_id {base_link_frame_id};
std::string world_frame_id {odom_frame_id};
std::string topic {"odometry/filtered"};
std::string acceleration_topic {"acceleration/filtered"};
ceres::Covariance::Options covariance_options;
};
} // namespace parameters
} // namespace fuse_models
#endif // FUSE_MODELS__PARAMETERS__ODOMETRY_2D_PUBLISHER_PARAMS_HPP_