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Upgrades OdometryPublisher system plugin #2822

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Upgrades OdometryPublisher system plugin #2822

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3aec156
Upgrades OdometryPublisher system plugin
Morgantiz Feb 28, 2025
240ee25
fix: adds Link library include
Morgantiz Mar 22, 2025
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34 changes: 29 additions & 5 deletions src/systems/odometry_publisher/OdometryPublisher.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@
#include "gz/sim/components/Pose.hh"
#include "gz/sim/components/JointPosition.hh"
#include "gz/sim/Model.hh"
#include "gz/sim/Link.hh"
#include "gz/sim/Util.hh"

using namespace gz;
Expand All @@ -66,6 +67,9 @@ class gz::sim::systems::OdometryPublisherPrivate
/// \brief Name of the world-fixed coordinate frame for the odometry message.
public: std::string odomFrame;

/// \brief Name of the frame used as child frame id in the odometry message
public: std::string odomChildFrame;

/// \brief Name of the coordinate frame rigidly attached to the mobile
/// robot base.
public: std::string robotBaseFrame;
Expand Down Expand Up @@ -180,16 +184,36 @@ void OdometryPublisher::Configure(const Entity &_entity,
this->dataPtr->gaussianNoise = _sdf->Get<double>("gaussian_noise");
}

this->dataPtr->robotBaseFrame = this->dataPtr->model.Name(_ecm)
+ "/" + "base_footprint";
this->dataPtr->robotBaseFrame = Link(this->dataPtr->model.Links(_ecm).at(0)).Name(_ecm).value();
if (!_sdf->HasElement("robot_base_frame"))
{
gzdbg << "OdometryPublisher system plugin missing <robot_base_frame>, "
<< "defaults to \"" << this->dataPtr->robotBaseFrame << "\"" << std::endl;
}
else
{
this->dataPtr->robotBaseFrame = _sdf->Get<std::string>("robot_base_frame");
const std::string name = _sdf->Get<std::string>("robot_base_frame");
if (this->dataPtr->model.LinkByName(_ecm, name) != kNullEntity)
{
this->dataPtr->robotBaseFrame = name;
}
else
{
gzerr << " OdometryPublisher system plugin <robot_base_frame> link not found in the model, "
<< "defaults to \"" << this->dataPtr->robotBaseFrame << "\"" << std::endl;
}
}

this->dataPtr->odomChildFrame = this->dataPtr->model.Name(_ecm)
+ "/" + this->dataPtr->robotBaseFrame;
if (!_sdf->HasElement("odom_child_frame"))
{
gzdbg << "OdometryPublisher system plugin missing <odom_child_frame>, "
<< "defaults to \"" << this->dataPtr->odomChildFrame << "\"" << std::endl;
}
else
{
this->dataPtr->odomChildFrame = _sdf->Get<std::string>("odom_child_frame");
}

this->dataPtr->dimensions = 2;
Expand Down Expand Up @@ -357,7 +381,7 @@ void OdometryPublisherPrivate::UpdateOdometry(

// Get and set robotBaseFrame to odom transformation.
//! [worldPose]
const math::Pose3d rawPose = worldPose(this->model.Entity(), _ecm);
const math::Pose3d rawPose = worldPose(this->model.LinkByName(_ecm, this->robotBaseFrame), _ecm);
//! [worldPose]
//! [setPoseMsg]
math::Pose3d pose = rawPose * this->offset;
Expand Down Expand Up @@ -462,7 +486,7 @@ void OdometryPublisherPrivate::UpdateOdometry(
frame->add_value(odomFrame);
auto childFrame = header.add_data();
childFrame->set_key("child_frame_id");
childFrame->add_value(robotBaseFrame);
childFrame->add_value(odomChildFrame);

msg.mutable_header()->CopyFrom(header);

Expand Down