Add xyz and rpy offset to published odometry pose #1341

adityapande-1995 · 2022-02-16T00:20:19Z

Signed-off-by: Aditya aditya050995@gmail.com

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🎉 New feature

Summary

This PR enables the user to specify xyz_offset and rpy_offset in the odometry publisher messages, similar to xyzOffset and rpyOffset in gazebo_ros_p3d plugin in gazebo_ros_pkgs

Test it

Added a test case and an example world.

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
codecheck passed (See contributing)
All tests passed (See test coverage)
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Signed-off-by: Aditya <aditya050995@gmail.com>

codecov · 2022-02-22T21:24:45Z

Codecov Report

Merging #1341 (7046c30) into ign-gazebo6 (f5bb284) will increase coverage by 0.02%.
The diff coverage is 100.00%.

❗ Current head 7046c30 differs from pull request most recent head 1c565de. Consider uploading reports for the commit 1c565de to get more accurate results

@@               Coverage Diff               @@
##           ign-gazebo6    #1341      +/-   ##
===============================================
+ Coverage        62.94%   62.96%   +0.02%     
===============================================
  Files              301      301              
  Lines            24234    24242       +8     
===============================================
+ Hits             15254    15264      +10     
+ Misses            8980     8978       -2

Impacted Files	Coverage Δ
...rc/systems/odometry_publisher/OdometryPublisher.hh	`100.00% <ø> (ø)`
...rc/systems/odometry_publisher/OdometryPublisher.cc	`86.06% <100.00%> (+0.71%)`	⬆️
src/SimulationRunner.cc	`92.07% <0.00%> (+0.15%)`	⬆️
src/ServerPrivate.cc	`82.84% <0.00%> (+0.49%)`	⬆️

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Signed-off-by: Aditya <aditya050995@gmail.com>

src/systems/odometry_publisher/OdometryPublisher.cc

Signed-off-by: Aditya <aditya050995@gmail.com>

adityapande-1995 · 2022-03-02T21:03:22Z

@azeey @scpeters should the behavior be changed in gazebo_ros_p3d as well ? I'm not sure if it working as desired with the issue in libsdformat that Addisu mentioned.

azeey · 2022-03-04T17:24:27Z

I'd say we should, but it would be a change in behavior. One thing we could do is add an additional parameter to gazebo_ros_p3d that indicates whether the plugin should use the old behavior.

scpeters · 2022-03-08T06:12:53Z

I'd say we should, but it would be a change in behavior. One thing we could do is add an additional parameter to gazebo_ros_p3d that indicates whether the plugin should use the old behavior.

I think the behavior is proposed to be changed in ros-simulation/gazebo_ros_pkgs#1241. @adityapande-1995 if you don't mind reviewing and merging that then we could port it to noetic and ros2 branches

adityapande-1995 · 2022-03-08T06:16:27Z

I'd say we should, but it would be a change in behavior. One thing we could do is add an additional parameter to gazebo_ros_p3d that indicates whether the plugin should use the old behavior.

I think the behavior is proposed to be changed in ros-simulation/gazebo_ros_pkgs#1241. @adityapande-1995 if you don't mind reviewing and merging that then we could port it to noetic and ros2 branches

Will do. Meanwhile, can we move ahead with this one ? Or should we wait for the ones in gazebo_ros_p3d to be merged and backported ?

test/worlds/odometry_offset.sdf

scpeters · 2022-03-08T06:20:08Z

I'd say we should, but it would be a change in behavior. One thing we could do is add an additional parameter to gazebo_ros_p3d that indicates whether the plugin should use the old behavior.

I think the behavior is proposed to be changed in ros-simulation/gazebo_ros_pkgs#1241. @adityapande-1995 if you don't mind reviewing and merging that then we could port it to noetic and ros2 branches

Will do. Meanwhile, can we move ahead with this one ? Or should we wait for the ones in gazebo_ros_p3d to be merged and backported ?

we don't need to wait for that to merge this one. I've just made one other comment about the test and then this should be ready to merge

caguero

Just a very minor suggestion, otherwise looks good to me.

src/systems/odometry_publisher/OdometryPublisher.cc

Signed-off-by: Aditya <aditya050995@gmail.com>

* Added xyz and rpy offset to published pose Signed-off-by: Aditya <aditya050995@gmail.com> Signed-off-by: Nate Koenig <nate@openrobotics.org>

* Added headless rendering tutorial Signed-off-by: Nate Koenig <nate@openrobotics.org> * Update tutorials/headless_rendering.md Co-authored-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Nate Koenig <nate@openrobotics.org> * Update tutorials/headless_rendering.md Co-authored-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Nate Koenig <nate@openrobotics.org> * Mention ogre2 Signed-off-by: Nate Koenig <nate@openrobotics.org> * Added note about software rendering Signed-off-by: Nate Koenig <nate@openrobotics.org> * add 'on linux systems' Signed-off-by: Nate Koenig <nate@openrobotics.org> * Add xyz and rpy offset to published odometry pose (#1341) * Added xyz and rpy offset to published pose Signed-off-by: Aditya <aditya050995@gmail.com> Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Aditya Pande <aditya050995@gmail.com>

* GzSceneManager: Prevent crash 💥 when inserted from menu (#1371) Signed-off-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: ahcorde <ahcorde@gmail.com> * Prepare version 6.7.0 (#1373) * Prepare version 6.7.0 Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org> * Populate GUI plugins that are empty (#1375) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Fix visualization python tutorial (#1377) Signed-off-by: ahcorde <ahcorde@gmail.com> * Add xyz and rpy offset to published odometry pose (#1341) * Added xyz and rpy offset to published pose Signed-off-by: Aditya <aditya050995@gmail.com> * Added headless rendering tutorial (#1386) * Added headless rendering tutorial Signed-off-by: Nate Koenig <nate@openrobotics.org> * Update tutorials/headless_rendering.md Co-authored-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Nate Koenig <nate@openrobotics.org> * Update tutorials/headless_rendering.md Co-authored-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Nate Koenig <nate@openrobotics.org> * Mention ogre2 Signed-off-by: Nate Koenig <nate@openrobotics.org> * Added note about software rendering Signed-off-by: Nate Koenig <nate@openrobotics.org> * add 'on linux systems' Signed-off-by: Nate Koenig <nate@openrobotics.org> * Add xyz and rpy offset to published odometry pose (#1341) * Added xyz and rpy offset to published pose Signed-off-by: Aditya <aditya050995@gmail.com> Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Aditya Pande <aditya050995@gmail.com> * Allow to turn on/off lights (#1343) Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Add gazebo Entity id to rendering sensor's user data (#1381) Adds the gazebo::Entity id to a rendering::Sensor's UserData object. The main use case is so that we can get back the corresponding gazebo Entity in the rendering thread when processing sensors. Signed-off-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Nate Koenig <nkoenig@users.noreply.github.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Don't mark entities with a ComponentState::NoChange component as modified (#1391) Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> * Disable ModelCommandAPI_TEST.RgbdCameraSensor on macOS (#1397) Disabling test since it's very flaky. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Disable PeerTracker.PeerTrackerStale on macOS (#1398) Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Toggle Light visuals (#1387) Signed-off-by: ahcorde <ahcorde@gmail.com> * Prevent hanging when world has only non-world plugins (#1383) Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Component inspector: refactor Pose3d C++ code into a separate class (#1400) Signed-off-by: Louise Poubel <louise@openrobotics.org> * add initial_position param to joint controller system (#1406) Similar to the <initial_position> parameter in the JointTrajectoryController system, this PR adds an <initial_position> parameter to the JointPositionController to let users specifies the initial target pos for a joint. Signed-off-by: Ian Chen <ichen@osrfoundation.org> * Fix JointStatePublisher topic name for nested models (#1405) The joint-state-publisher system currently assumes it's always attached to the top level model and hence generates an incorrect topic name for nested models. This PR updates it to generate the correct topic name. Signed-off-by: Ian Chen <ichen@osrfoundation.org> * Added user command to set multiple entities (#1394) Signed-off-by: ahcorde <ahcorde@gmail.com> Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Disable tests that are expected to fail on Windows (#1408) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Fortress: Install Ogre 2.2, simplify docker (#1395) Signed-off-by: Louise Poubel <louise@openrobotics.org> * SceneBroadcaster: only send changed state information for change events (#1392) Signed-off-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Add wheel slip user command (#1241) Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> * Distortion camera integration test (#1374) Signed-off-by: William Lew <WilliamMilesLew@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Add the Model Photo Shoot system, port of Modelpropshop plugin from Gazebo classic (#1331) This system can be used to generate thumbnails of models. In comparison to the Modelpropshop plugin in Gazebo classic, this adds the ability to generate thumbnails after randomizing the joint positions of the model. Signed-off-by: Marco A. Gutierrez <marco@openrobotics.org> Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Referring to Fuel assets within a heightmap (#1419) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Disable sensors in sensors system when battery is drained (#1385) Added a new parameter <disable_on_drained_battery> to the sensors system. If set to true, sensors will be disabled if the model is out of battery. It listens to the battery state of charge from the battery plugin, and if the charge reaches zero, all child sensors and nested sensors are set to be inactive. Signed-off-by: Ian Chen <ichen@osrfoundation.org> * 🏁🎈 5.4.0 (#1420) Signed-off-by: Louise Poubel <louise@openrobotics.org> * ServerConfig accepts an sdf::Root DOM object (#1333) Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Michael Carroll <michael@openrobotics.org> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Preparing 6.8.0 release (#1425) * Prepareing 6.8.0 release Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org> * Update changelog after merging forward port Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org> * Add Gaussian noise to Odometry Publisher (#1393) * Added gaussian noise and odometry with covariance publisher Signed-off-by: Aditya <aditya050995@gmail.com> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Fix deprecation warnings for ModelPhotoShoot (#1437) Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Jose Luis Rivero <jrivero@osrfoundation.org> Co-authored-by: Aditya Pande <aditya050995@gmail.com> Co-authored-by: Nate Koenig <nkoenig@users.noreply.github.com> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Ashton Larkin <42042756+adlarkin@users.noreply.github.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: William Lew <WilliamMilesLew@gmail.com> Co-authored-by: Marco A. Gutiérrez <marcogg@marcogg.com> Co-authored-by: Michael Carroll <michael@openrobotics.org>

osrf-triage · 2022-04-13T21:29:57Z

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1

Added xyz and rpy offset to published pose

62e29ea

Signed-off-by: Aditya <aditya050995@gmail.com>

github-actions bot added the 🏯 fortress Ignition Fortress label Feb 16, 2022

adityapande-1995 changed the title ~~Added xyz and rpy offset to published pose~~ xyz and rpy offset to published odometry pose Feb 16, 2022

adityapande-1995 self-assigned this Feb 16, 2022

Added test case

f03559e

Signed-off-by: Aditya <aditya050995@gmail.com>

adityapande-1995 marked this pull request as ready for review February 16, 2022 03:35

adityapande-1995 requested a review from chapulina as a code owner February 16, 2022 03:35

adityapande-1995 requested a review from scpeters February 16, 2022 03:37

adityapande-1995 changed the title ~~xyz and rpy offset to published odometry pose~~ Add xyz and rpy offset to published odometry pose Feb 16, 2022

adityapande-1995 requested a review from jacobperron February 16, 2022 03:40

adityapande-1995 marked this pull request as draft February 22, 2022 21:15

codecheck fixes

efabe27

Signed-off-by: Aditya <aditya050995@gmail.com>

adityapande-1995 force-pushed the aditya/odom_offset branch from 455454b to efabe27 Compare February 23, 2022 21:57

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adityapande-1995 added 2 commits February 23, 2022 16:21

Merge branch 'ign-gazebo6' into aditya/odom_offset

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offset is wrt body frame, updated doc in header file

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Signed-off-by: Aditya <aditya050995@gmail.com>

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Updated example, initialized offset

d314d42

Signed-off-by: Aditya <aditya050995@gmail.com>

adityapande-1995 force-pushed the aditya/odom_offset branch from 77403c9 to d314d42 Compare March 8, 2022 20:47

Merge branch 'ign-gazebo6' into aditya/odom_offset

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adityapande-1995 merged commit c24a4e9 into ign-gazebo6 Mar 11, 2022

adityapande-1995 deleted the aditya/odom_offset branch March 11, 2022 23:53

nkoenig pushed a commit that referenced this pull request Mar 14, 2022

Add xyz and rpy offset to published odometry pose (#1341)

f9c6a55

* Added xyz and rpy offset to published pose Signed-off-by: Aditya <aditya050995@gmail.com> Signed-off-by: Nate Koenig <nate@openrobotics.org>

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Add xyz and rpy offset to published odometry pose #1341

Add xyz and rpy offset to published odometry pose #1341

adityapande-1995 commented Feb 16, 2022 •

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osrf-triage commented Apr 13, 2022

Add xyz and rpy offset to published odometry pose #1341

Add xyz and rpy offset to published odometry pose #1341

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adityapande-1995 commented Feb 16, 2022 • edited Loading

🎉 New feature

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Test it

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