Adds pose and twist with covariance messages bridging #222

adityapande-1995 · 2022-03-08T00:11:24Z

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🎉 New feature

Summary

This PR aims to interface the following message types :

ignition::msgs::PoseWithCovariance <--> geometry_msgs/msg/PoseWithCovariance
ignition::msgs::TwistWithCovariance <--> geometry_msgs/msg/TwistWithCovariance
ignition::msgs::OdometryWithCovariance <--> nav_msgs/msg/Odometry

This is a follow up PR to the message types added here : gazebosim/gz-msgs#224

Test it

TODO

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 <[email protected]>

ros_ign_bridge/src/convert/nav_msgs.cpp

ros_ign_bridge/test/utils/ign_test_msg.hpp

Signed-off-by: Aditya <[email protected]>

chapulina · 2022-03-09T19:47:24Z

Please don't forget to update the README with the new supported conversions:

https://github.com/ignitionrobotics/ros_ign/tree/ros2/ros_ign_bridge

Signed-off-by: Aditya <[email protected]>

jacobperron

LGTM pending CI.

It's a bit unfortunate that the Ignition covariance values are not constrained to be exactly 36 values.

jacobperron · 2022-03-17T16:01:36Z

ros_ign_bridge/src/convert/geometry_msgs.cpp

+  convert_ign_to_ros(ign_msg.pose().position(), ros_msg.pose.position);
+  convert_ign_to_ros(ign_msg.pose().orientation(), ros_msg.pose.orientation);
+  int data_size = ign_msg.covariance().data_size();
+  if (data_size == 36) {


How likely is this going to be false? Seems less than ideal.

I agree, this is not likely to be false, but I was still worried if this loop will segfault at runtime if the data array in ros_msg.covariance[ ] exceeds index. There is no explicit check on Float_V size.

Is there a way to define the type such that it always has a size of 36?

Maybe those are not supported by protobuf, used by ign-msgs : https://www.aapelivuorinen.com/blog/2019/07/12/protobuf-arrays/

yeah I don't think protobuf supports fixed size arrays

we are on the verge of releasing the ign-msgs file into ign-msgs8. Does this approach seem reasonable to you?

Prepare for 8.3.0 release gz-msgs#237

I think it's fine to keep this PR as-is. I was just curious if it was possible to avoid.

chapulina · 2022-04-22T21:59:03Z

CI is finally running for this branch. There are new linter errors:

 	  5 - cpplint (Failed)
	  6 - flake8 (Failed)
	  9 - uncrustify (Failed)

Signed-off-by: Aditya <[email protected]>

adityapande-1995 · 2022-04-27T22:57:14Z

There is a problem with the post shutdown tests, which seems unrelated to this PR. Tested locally with the ros2 branch and it threw the same error. For instance, this error is also seen here : https://build.ros2.org/job/Rpr__ros_ign__ubuntu_jammy_amd64/36/

jacobperron

Latest changes LGTM

adityapande-1995 added 3 commits March 7, 2022 10:08

Changed templates

7ce0ae7

Signed-off-by: Aditya <[email protected]>

Removed debug statements

1403fc5

Signed-off-by: Aditya <[email protected]>

Added twist with covariance msg bridge

20b24e8

Signed-off-by: Aditya <[email protected]>

adityapande-1995 requested a review from scpeters March 8, 2022 00:11

adityapande-1995 changed the base branch from melodic to ros2 March 8, 2022 00:11

Populate cov matrix

57681a3

Signed-off-by: Aditya <[email protected]>

adityapande-1995 requested a review from jacobperron March 8, 2022 02:47

bridged odometry (ros) and odometry with covariance (ign)

9d345b1

Signed-off-by: Aditya <[email protected]>

adityapande-1995 marked this pull request as ready for review March 8, 2022 06:17

adityapande-1995 requested a review from chapulina as a code owner March 8, 2022 06:17

Added tests for PoseWithCovariance

a2aff09

Signed-off-by: Aditya <[email protected]>

jacobperron reviewed Mar 9, 2022

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ros_ign_bridge/src/convert/nav_msgs.cpp Outdated Show resolved Hide resolved

ros_ign_bridge/test/utils/ign_test_msg.hpp Show resolved Hide resolved

adityapande-1995 added 2 commits March 9, 2022 10:53

Added tests for TwistWithCovariance

1bd8b1d

Signed-off-by: Aditya <[email protected]>

Added tests for OdometryWithCovariance

e1f9cec

Signed-off-by: Aditya <[email protected]>

adityapande-1995 mentioned this pull request Mar 9, 2022

Pose, twist and odometry with covariance msgs gazebosim/gz-msgs#224

Merged

8 tasks

chapulina added needs upstream release Blocked by a release of an upstream library ROS 2 ROS 2 labels Mar 9, 2022

adityapande-1995 added 5 commits March 9, 2022 12:17

Updated README, check size of Float_V before conversion to ros msg

c7fc616

Signed-off-by: Aditya <[email protected]>

linter

a1bec61

Signed-off-by: Aditya <[email protected]>

Populate covariance matrix with nontrivial values

4851f46

Signed-off-by: Aditya <[email protected]>

Tests check for nontrivial covariance matrix

c74af28

Signed-off-by: Aditya <[email protected]>

Changed nav_msgs.cpp to snake_case

bb52954

Signed-off-by: Aditya <[email protected]>

adityapande-1995 mentioned this pull request Mar 16, 2022

Add Gaussian noise to Odometry Publisher gazebosim/gz-sim#1393

Merged

8 tasks

jacobperron approved these changes Mar 17, 2022

View reviewed changes

adityapande-1995 closed this Apr 11, 2022

adityapande-1995 reopened this Apr 11, 2022

adityapande-1995 closed this Apr 18, 2022

adityapande-1995 reopened this Apr 18, 2022

adityapande-1995 mentioned this pull request Apr 20, 2022

[WIP] Migration to Ignition jacobperron/pc_pipe#9

Open

chapulina removed the needs upstream release Blocked by a release of an upstream library label Apr 22, 2022

Linter fixes

8154303

Signed-off-by: Aditya <[email protected]>

adityapande-1995 force-pushed the aditya/odom_with_covariance branch from 8c3ceac to 8154303 Compare April 25, 2022 18:30

adityapande-1995 added 4 commits April 25, 2022 11:50

Linter fixes

b6e3dab

Signed-off-by: Aditya <[email protected]>

Liner fixes

3e33a26

Signed-off-by: Aditya <[email protected]>

Fixed test failures

80130d2

Signed-off-by: Aditya <[email protected]>

Flake8 fixes

557a680

Signed-off-by: Aditya <[email protected]>

jacobperron approved these changes Apr 27, 2022

View reviewed changes

adityapande-1995 merged commit 54c28b1 into ros2 Apr 27, 2022

adityapande-1995 deleted the aditya/odom_with_covariance branch April 27, 2022 23:07

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Adds pose and twist with covariance messages bridging #222

Adds pose and twist with covariance messages bridging #222

adityapande-1995 commented Mar 8, 2022 •

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chapulina commented Mar 9, 2022

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chapulina commented Apr 22, 2022

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Adds pose and twist with covariance messages bridging #222

Adds pose and twist with covariance messages bridging #222

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adityapande-1995 commented Mar 8, 2022 • edited Loading

🎉 New feature

Summary

Test it

Checklist

chapulina commented Mar 9, 2022

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