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Ros2 diffdrive odom cov param added #1461

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Ros2 diffdrive odom cov param added #1461

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48bf3fa
covaraince parameter for odometry msgs added
maxbader Mar 10, 2023
828b1b2
cov parameter set to the same as without additinal parameters
maxbader Mar 10, 2023
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36 changes: 23 additions & 13 deletions gazebo_plugins/src/gazebo_ros_diff_drive.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -221,7 +221,7 @@ class GazeboRosDiffDrivePrivate
unsigned int num_wheel_pairs_;

/// Covariance in odometry
double covariance_[3];
double covariance_[12];
};

GazeboRosDiffDrive::GazeboRosDiffDrive()
Expand Down Expand Up @@ -403,7 +403,17 @@ void GazeboRosDiffDrive::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr

impl_->covariance_[0] = _sdf->Get<double>("covariance_x", 0.00001).first;
impl_->covariance_[1] = _sdf->Get<double>("covariance_y", 0.00001).first;
impl_->covariance_[2] = _sdf->Get<double>("covariance_yaw", 0.001).first;
impl_->covariance_[2] = _sdf->Get<double>("covariance_z", 1000000000000.0).first;
impl_->covariance_[3] = _sdf->Get<double>("covariance_roll", 1000000000000.0).first;
impl_->covariance_[4] = _sdf->Get<double>("covariance_pitch", 1000000000000.0).first;
impl_->covariance_[5] = _sdf->Get<double>("covariance_yaw", 0.001).first;

impl_->covariance_[6] = _sdf->Get<double>("covariance_vx", 1.0).first;
impl_->covariance_[7] = _sdf->Get<double>("covariance_vy", 1.0).first;
impl_->covariance_[8] = _sdf->Get<double>("covariance_vz", 1000000000000.0).first;
impl_->covariance_[9] = _sdf->Get<double>("covariance_vroll", 1000000000000.0).first;
impl_->covariance_[10] = _sdf->Get<double>("covariance_vpitch", 1000000000000.0).first;
impl_->covariance_[11] = _sdf->Get<double>("covariance_vyaw", 1.0).first;

// Listen to the update event (broadcast every simulation iteration)
impl_->update_connection_ = gazebo::event::Events::ConnectWorldUpdateBegin(
Expand Down Expand Up @@ -651,17 +661,17 @@ void GazeboRosDiffDrivePrivate::PublishOdometryMsg(const gazebo::common::Time &
// Set covariance
odom_.pose.covariance[0] = covariance_[0];
odom_.pose.covariance[7] = covariance_[1];
odom_.pose.covariance[14] = 1000000000000.0;
odom_.pose.covariance[21] = 1000000000000.0;
odom_.pose.covariance[28] = 1000000000000.0;
odom_.pose.covariance[35] = covariance_[2];

odom_.twist.covariance[0] = covariance_[0];
odom_.twist.covariance[7] = covariance_[1];
odom_.twist.covariance[14] = 1000000000000.0;
odom_.twist.covariance[21] = 1000000000000.0;
odom_.twist.covariance[28] = 1000000000000.0;
odom_.twist.covariance[35] = covariance_[2];
odom_.pose.covariance[14] = covariance_[2];
odom_.pose.covariance[21] = covariance_[3];
odom_.pose.covariance[28] = covariance_[4];
odom_.pose.covariance[35] = covariance_[5];

odom_.twist.covariance[0] = covariance_[6];
odom_.twist.covariance[7] = covariance_[7];
odom_.twist.covariance[14] = covariance_[8];
odom_.twist.covariance[21] = covariance_[9];
odom_.twist.covariance[28] = covariance_[10];
odom_.twist.covariance[35] = covariance_[11];

// Set header
odom_.header.frame_id = odometry_frame_;
Expand Down