pr2_odometry.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  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 Willow Garage 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 OWNER 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.
 *********************************************************************/

#include <Eigen/Core>
#include <Eigen/SVD>
#include <nav_msgs/Odometry.h>
#include <pr2_mechanism_controllers/Odometer.h>
#include <realtime_tools/realtime_publisher.h>
#include <tf/tfMessage.h>
#include <tf/tf.h>
#include <pr2_mechanism_controllers/base_kinematics.h>
#include <angles/angles.h>

#include <boost/scoped_ptr.hpp>

#include <std_msgs/Float64.h>
#include <pr2_mechanism_controllers/OdometryMatrix.h>
#include <pr2_mechanism_controllers/DebugInfo.h>

#include <std_msgs/Bool.h>
#include <pr2_mechanism_controllers/BaseOdometryState.h>

namespace controller
{

typedef Eigen::Matrix<float, 3, 1> OdomMatrix3x1;
typedef Eigen::Matrix<float, 16, 1> OdomMatrix16x1;
typedef Eigen::Matrix<float, 16, 3> OdomMatrix16x3;
typedef Eigen::Matrix<float, 16, 16> OdomMatrix16x16;


  class Pr2Odometry : public pr2_controller_interface::Controller
  {
    public:

    Pr2Odometry();

    ~Pr2Odometry();

    bool init(pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node);

    /*
    * \brief  The starting method is called by the realtime thread just before
    * the first call to update.  Overrides Controller.staring().
    * @return Successful start
    */
    void starting();

    void update();

    void publish();

    void publishTransform();

    void publishOdometer();

    void publishState();


    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    private:

    ros::NodeHandle node_;

    BaseKinematics base_kin_;

    void updateOdometry();

    void getOdometryMessage(nav_msgs::Odometry &msg);

    void getOdometry(double &x, double &y, double &yaw, double &vx, double &vy, double &vw);

    void getOdometry(geometry_msgs::Point &odom, geometry_msgs::Twist &odom_vel);

    void computeBaseVelocity();

    double getCorrectedWheelSpeed(const int &index);

    OdomMatrix3x1 iterativeLeastSquares(const OdomMatrix16x3 &lhs, const OdomMatrix16x1 &rhs, const int &max_iter);

    OdomMatrix16x16 findWeightMatrix(const OdomMatrix16x1 &residual);

    double odometer_distance_;

    double odometer_angle_;

    ros::Time last_time_,current_time_;

    geometry_msgs::Point odom_;

    geometry_msgs::Twist odom_vel_;

    int ils_max_iterations_;

    double odometry_residual_max_;

    std::string odom_frame_;

    std::string base_link_frame_;

    std::string base_footprint_frame_;

    ros::Time last_publish_time_;

    ros::Time last_transform_publish_time_;

    ros::Time last_odometer_publish_time_;

    ros::Time last_state_publish_time_;

    double expected_publish_time_;

    double expected_odometer_publish_time_;

    double expected_state_publish_time_;

    boost::scoped_ptr<realtime_tools::RealtimePublisher <nav_msgs::Odometry> > odometry_publisher_ ;

    boost::scoped_ptr<realtime_tools::RealtimePublisher <pr2_mechanism_controllers::Odometer> > odometer_publisher_ ;  

    boost::scoped_ptr<realtime_tools::RealtimePublisher <pr2_mechanism_controllers::BaseOdometryState> > state_publisher_ ;  

    boost::scoped_ptr<realtime_tools::RealtimePublisher <tf::tfMessage> > transform_publisher_ ;

    double sigma_x_,sigma_y_,sigma_theta_,cov_x_y_,cov_x_theta_,cov_y_theta_;

    double base_link_floor_z_offset_;

    bool publish_tf_;


    void populateCovariance(const double &residual, nav_msgs::Odometry &msg);

    boost::scoped_ptr<realtime_tools::RealtimePublisher <pr2_mechanism_controllers::OdometryMatrix> > matrix_publisher_;
    boost::scoped_ptr<realtime_tools::RealtimePublisher <pr2_mechanism_controllers::DebugInfo> > debug_publisher_;

    int sequence_;

    bool isInputValid();

    bool verbose_, publish_odom_, publish_odometer_, publish_state_;

    double odom_publish_rate_;

    double odometer_publish_rate_;

    double state_publish_rate_;

    double caster_calibration_multiplier_;

    OdomMatrix16x3  cbv_lhs_, fit_lhs_;
    OdomMatrix16x1  cbv_rhs_, fit_residual_, odometry_residual_;
    OdomMatrix16x1  fit_rhs_;
    OdomMatrix16x16 weight_matrix_, w_fit;
    OdomMatrix3x1   cbv_soln_, fit_soln_;

    std::string tf_prefix_;

  };
}