diff --git a/inekf_msgs/CMakeLists.txt b/inekf_msgs/CMakeLists.txt index 5f05904..979ccc4 100644 --- a/inekf_msgs/CMakeLists.txt +++ b/inekf_msgs/CMakeLists.txt @@ -12,6 +12,10 @@ find_package( add_message_files( FILES + Contact.msg + ContactArray.msg + Kinematics.msg + KinematicsArray.msg Landmark.msg LandmarkStamped.msg LandmarkArray.msg diff --git a/inekf_msgs/msg/Contact.msg b/inekf_msgs/msg/Contact.msg new file mode 100644 index 0000000..de549ce --- /dev/null +++ b/inekf_msgs/msg/Contact.msg @@ -0,0 +1,3 @@ +int32 id +bool indicator + diff --git a/inekf_msgs/msg/ContactArray.msg b/inekf_msgs/msg/ContactArray.msg new file mode 100644 index 0000000..e47f4fa --- /dev/null +++ b/inekf_msgs/msg/ContactArray.msg @@ -0,0 +1,2 @@ +Header header +Contact[] contacts diff --git a/inekf_msgs/msg/Kinematics.msg b/inekf_msgs/msg/Kinematics.msg new file mode 100644 index 0000000..90d6551 --- /dev/null +++ b/inekf_msgs/msg/Kinematics.msg @@ -0,0 +1,2 @@ +int32 id +geometry_msgs/PoseWithCovariance pose diff --git a/inekf_msgs/msg/KinematicsArray.msg b/inekf_msgs/msg/KinematicsArray.msg new file mode 100644 index 0000000..b5c8094 --- /dev/null +++ b/inekf_msgs/msg/KinematicsArray.msg @@ -0,0 +1,2 @@ +Header header +Kinematics[] frames diff --git a/inekf_ros/CMakeLists.txt b/inekf_ros/CMakeLists.txt index da6d190..a87f76f 100644 --- a/inekf_ros/CMakeLists.txt +++ b/inekf_ros/CMakeLists.txt @@ -18,6 +18,7 @@ find_package(catkin REQUIRED COMPONENTS std_msgs sensor_msgs inekf_msgs + apriltag_msgs tf ) @@ -163,7 +164,8 @@ file(GLOB src_files ) add_executable(inekf_node src/inekf_node.cpp ${src_files}) add_executable(fake_imu_publisher_node tests/fake_imu_publisher.cpp) -add_executable(fake_multi_landmark_publisher_node tests/fake_multi_landmark_publisher.cpp) +add_executable(fake_landmark_publisher_node tests/fake_landmark_publisher.cpp) +add_executable(fake_contact_kinematics_publisher_node tests/fake_contact_kinematics_publisher.cpp) add_executable(data_file_publisher_node tests/data_file_publisher.cpp) ## Rename C++ executable without prefix @@ -186,7 +188,10 @@ target_link_libraries(inekf_node target_link_libraries(fake_imu_publisher_node ${catkin_LIBRARIES} ) -target_link_libraries(fake_multi_landmark_publisher_node +target_link_libraries(fake_landmark_publisher_node + ${catkin_LIBRARIES} +) +target_link_libraries(fake_contact_kinematics_publisher_node ${catkin_LIBRARIES} ) target_link_libraries(data_file_publisher_node diff --git a/inekf_ros/config/prior.yaml b/inekf_ros/config/prior.yaml index bc3ee23..57ebf18 100644 --- a/inekf_ros/config/prior.yaml +++ b/inekf_ros/config/prior.yaml @@ -4,15 +4,15 @@ prior: base_position: [0,0,0] gyroscope_bias: [0,0,0] accelerometer_bias: [0,0,0] - base_orientation_std: 0.001 + base_orientation_std: 0.1 base_velocity_std: 0.1 - base_position_std: 0.01 - gyroscope_bias_std: 0.001 - accelerometer_bias_std: 0.01 - landmarks: - - id: 0 - position: [1.0,1.0,0.0] - - id: 1 - position: [1.0,-1.0,0.0] - - id: 2 - position: [2.0,0.0,1.0] \ No newline at end of file + base_position_std: 0.001 + gyroscope_bias_std: 0.2 + accelerometer_bias_std: 0.2 + # landmarks: + # - id: 0 + # position: [1.0,1.0,0.0] + # - id: 1 + # position: [1.0,-1.0,0.0] + # - id: 2 + # position: [2.0,0.0,1.0] \ No newline at end of file diff --git a/inekf_ros/config/settings.yaml b/inekf_ros/config/settings.yaml index f7da190..483d4be 100644 --- a/inekf_ros/config/settings.yaml +++ b/inekf_ros/config/settings.yaml @@ -1,14 +1,31 @@ settings: imu_topic: "/imu" - landmarks_topic: "/landmarks" map_frame_id : "/map" base_frame_id: "/imu" - publish_rate: 100.0 + publish_rate: 200.0 pose_topic: "/pose" state_topic: "/state" - publish_landmark_position_markers: true - landmark_position_markers_topic: "/landmark_position_markers" - publish_trajectory_markers: true - trajectory_markers_topic: "/trajectory_markers" - publish_landmark_measurement_markers: true - landmark_measurement_markers_topic: "/landmark_measurement_markers" + publish_visualization_markers: true + visualization_markers_topic: "/markers" + enable_landmarks: true + landmarks_topic: "/landmarks" + enable_kinematics: true + kinematics_topic: "/kinematics" + contact_topic: "/contacts" + + +# settings: +# imu_topic: "/multisense/imu/imu_data" +# landmarks_topic: "/apriltag2_pub/apriltag2_tag_detections_array" +# map_frame_id : "/map" +# base_frame_id: "/multisense/accel" +# publish_rate: 100.0 +# pose_topic: "/pose" +# state_topic: "/state" +# publish_landmark_position_markers: true +# landmark_position_markers_topic: "/landmark_position_markers" +# publish_trajectory_markers: true +# trajectory_markers_topic: "/trajectory_markers" +# publish_landmark_measurement_markers: true +# landmark_measurement_markers_topic: "/landmark_measurement_markers" + diff --git a/inekf_ros/data/sim_data_2.txt b/inekf_ros/data/sim_data_2.txt index d0fa01e..57091e6 100644 --- a/inekf_ros/data/sim_data_2.txt +++ b/inekf_ros/data/sim_data_2.txt @@ -1,22000 +1,42000 @@ 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0.282664 0.395587 8.663749 -2.207870 3.794227 +IMU 99.925000 0.204955 0.292511 0.406732 8.914560 -2.327764 3.593282 +IMU 99.927500 0.187586 0.296306 0.393942 8.976304 -2.400308 3.811755 +IMU 99.930000 0.204333 0.300216 0.392796 8.885484 -2.303635 3.677303 +IMU 99.932500 0.195489 0.295188 0.390117 9.026337 -2.337711 3.755314 +IMU 99.935000 0.189118 0.292553 0.389577 8.949232 -2.276808 3.809164 +IMU 99.937500 0.185776 0.299995 0.399772 8.941220 -2.468607 3.761982 +IMU 99.940000 0.195907 0.298350 0.401179 8.957942 -2.388072 3.755829 +IMU 99.942500 0.202633 0.305778 0.410709 8.902140 -2.132070 3.756263 +IMU 99.945000 0.192083 0.296665 0.399085 8.913141 -2.166465 3.596444 +IMU 99.947500 0.214418 0.306255 0.398527 8.985330 -2.206820 3.737550 +IMU 99.950000 0.202906 0.262781 0.398560 8.925758 -2.165319 3.764507 +LANDMARK 99.950000 0.000000 0.331332 1.243873 0.677022 1.000000 0.840789 0.533096 -1.121658 2.000000 1.840789 1.533096 -0.121658 +IMU 99.952500 0.211216 0.302284 0.390343 9.017017 -2.184832 3.833443 +IMU 99.955000 0.199960 0.291995 0.407132 9.041519 -2.245666 3.649057 +IMU 99.957500 0.201846 0.295552 0.402730 8.940355 -2.235875 3.985047 +IMU 99.960000 0.205334 0.292116 0.406060 8.857291 -2.235473 3.836628 +IMU 99.962500 0.191058 0.275889 0.404061 8.976420 -2.341271 3.759057 +IMU 99.965000 0.202107 0.299240 0.394216 8.797133 -2.319716 3.831203 +IMU 99.967500 0.202965 0.307470 0.395632 9.024401 -2.330774 3.708725 +IMU 99.970000 0.206544 0.311620 0.384177 8.995090 -2.233095 3.859292 +IMU 99.972500 0.203499 0.317571 0.392573 9.004941 -2.337594 3.795004 +IMU 99.975000 0.194797 0.299159 0.397200 8.861274 -2.517158 3.992210 +IMU 99.977500 0.189719 0.287090 0.386917 8.824087 -2.394459 3.842987 +IMU 99.980000 0.174855 0.319585 0.405702 8.983108 -2.419654 3.763594 +IMU 99.982500 0.210958 0.304645 0.393726 8.950441 -2.264859 3.773904 +IMU 99.985000 0.203981 0.284455 0.385373 8.724084 -2.362848 3.944803 +IMU 99.987500 0.205460 0.295569 0.411060 8.918516 -2.412297 3.698747 +IMU 99.990000 0.197447 0.306416 0.399328 8.964125 -2.187639 3.699937 +IMU 99.992500 0.212914 0.302799 0.387672 8.840047 -2.258015 3.729246 +IMU 99.995000 0.197572 0.296115 0.403578 8.932047 -2.317530 3.739670 +IMU 99.997500 0.193318 0.303311 0.418698 8.815319 -2.304080 3.773288 diff --git a/inekf_ros/include/InEKF_ROS.h b/inekf_ros/include/InEKF_ROS.h index d4f9360..f5516ac 100644 --- a/inekf_ros/include/InEKF_ROS.h +++ b/inekf_ros/include/InEKF_ROS.h @@ -16,6 +16,8 @@ #include "Queue.h" #include "inekf_msgs/State.h" #include "visualization_msgs/MarkerArray.h" +#include "apriltag_msgs/AprilTagDetectionArray.h" +#include #define MAX_QUEUE_SIZE 100 @@ -30,25 +32,31 @@ class InEKF_ROS { inekf::InEKF filter_; ros::Subscriber imu_sub_; ros::Subscriber landmarks_sub_; + ros::Subscriber kinematics_sub_; + ros::Subscriber contact_sub_; std::thread filtering_thread_; std::thread output_thread_; Queue> m_queue_; std::string imu_frame_id_; std::string map_frame_id_; + bool publish_visualization_markers_; + ros::Publisher visualization_pub_; + bool enable_landmarks_; tf::StampedTransform camera_to_imu_transform_; - bool publish_landmark_measurement_markers_; - bool publish_landmark_position_markers_; - bool publish_trajectory_markers_; - ros::Publisher landmark_measurement_vis_pub_; - + bool enable_kinematics_; void subscribe(); void mainFilteringThread(); void outputPublishingThread(); void imuCallback(const sensor_msgs::Imu::ConstPtr& msg); void landmarkCallback(const inekf_msgs::LandmarkArray::ConstPtr& msg); + void aprilTagCallback(const apriltag_msgs::AprilTagDetectionArray::ConstPtr& msg); + void kinematicsCallback(const inekf_msgs::KinematicsArray::ConstPtr& msg); + void contactCallback(const inekf_msgs::ContactArray::ConstPtr& msg); + void publishLandmarkMeasurementMarkers(std::shared_ptr ptr); + void publishKinematicMeasurementMarkers(std::shared_ptr ptr); }; #endif diff --git a/inekf_ros/include/Measurement.h b/inekf_ros/include/Measurement.h index 1332b78..6e4c77e 100644 --- a/inekf_ros/include/Measurement.h +++ b/inekf_ros/include/Measurement.h @@ -4,12 +4,13 @@ #include #include "ros/ros.h" #include "sensor_msgs/Imu.h" -#include "inekf_msgs/LandmarkStamped.h" +#include "inekf_msgs/ContactArray.h" +#include "inekf_msgs/KinematicsArray.h" #include "inekf_msgs/LandmarkArray.h" #include "InEKF.h" #include "tf/transform_listener.h" -enum MeasurementType {EMPTY, IMU, LANDMARK}; +enum MeasurementType {EMPTY, IMU, LANDMARK, KINEMATIC, CONTACT}; class Measurement { @@ -54,4 +55,30 @@ class LandmarkMeasurement : public Measurement { inekf::vectorPairIntVector3d data_; }; +class ContactMeasurement : public Measurement { + + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + ContactMeasurement(const inekf_msgs::ContactArray::ConstPtr& msg); + std::vector> getData(); + //friend std::ostream& operator<<(std::ostream& os, const Measurement& m); + + private: + std::vector> data_; +}; + + +class KinematicMeasurement : public Measurement { + + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + KinematicMeasurement(const inekf_msgs::KinematicsArray::ConstPtr& msg); + inekf::vectorTupleIntMatrix4dMatrix6d getData(); + //friend std::ostream& operator<<(std::ostream& os, const Measurement& m); + + private: + inekf::vectorTupleIntMatrix4dMatrix6d data_; +}; + + #endif diff --git a/inekf_ros/launch/data_file_test.launch b/inekf_ros/launch/data_file_test.launch index e196344..b9caadf 100644 --- a/inekf_ros/launch/data_file_test.launch +++ b/inekf_ros/launch/data_file_test.launch @@ -7,10 +7,18 @@ + + + - - - + + + + + + + + diff --git a/inekf_ros/launch/fake_imu_kinematics.launch b/inekf_ros/launch/fake_imu_kinematics.launch new file mode 100644 index 0000000..0a851ff --- /dev/null +++ b/inekf_ros/launch/fake_imu_kinematics.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/inekf_ros/launch/fake_imu_landmark_test.launch b/inekf_ros/launch/fake_imu_landmark_test.launch index 029caeb..c295c65 100644 --- a/inekf_ros/launch/fake_imu_landmark_test.launch +++ b/inekf_ros/launch/fake_imu_landmark_test.launch @@ -7,7 +7,7 @@ - + diff --git a/inekf_ros/package.xml b/inekf_ros/package.xml index 64cb4d4..486eaa4 100644 --- a/inekf_ros/package.xml +++ b/inekf_ros/package.xml @@ -53,6 +53,7 @@ std_msgs sensor_msgs inekf_msgs + apriltag_msgs tf catkin diff --git a/inekf_ros/rviz/config.rviz b/inekf_ros/rviz/config.rviz index 3fc3edc..906cceb 100644 --- a/inekf_ros/rviz/config.rviz +++ b/inekf_ros/rviz/config.rviz @@ -6,6 +6,8 @@ Panels: Expanded: - /Global Options1 - /Status1 + - /MarkerArray1 + - /MarkerArray1/Namespaces1 Splitter Ratio: 0.5 Tree Height: 542 - Class: rviz/Selection @@ -68,28 +70,16 @@ Visualization Manager: {} Update Interval: 0 Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /trajectory_markers - Name: Marker - Namespaces: - trajectory: true - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /landmark_measurement_markers - Name: Marker - Namespaces: - trajectory: true - Queue Size: 100 - Value: true - Class: rviz/MarkerArray Enabled: true - Marker Topic: /landmark_position_markers + Marker Topic: /markers Name: MarkerArray Namespaces: + contacts: true + estimated_contacts: true + estimated_landmarks: true landmarks: true + trajectory: true Queue Size: 100 Value: true Enabled: true @@ -132,10 +122,10 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.00999999978 - Pitch: 0.355397969 + Pitch: 0.520397902 Target Frame: Value: Orbit (rviz) - Yaw: 3.47540188 + Yaw: 3.35040116 Saved: ~ Window Geometry: Displays: @@ -153,5 +143,5 @@ Window Geometry: Views: collapsed: false Width: 1536 - X: 101 - Y: 52 + X: 125 + Y: 145 diff --git a/inekf_ros/src/InEKF_ROS.cpp b/inekf_ros/src/InEKF_ROS.cpp index 396bb5b..58c47dd 100644 --- a/inekf_ros/src/InEKF_ROS.cpp +++ b/inekf_ros/src/InEKF_ROS.cpp @@ -117,14 +117,15 @@ void InEKF_ROS::init() { // ----- Settings -------- - string landmark_measurement_markers_topic; nh.param("settings/map_frame_id", map_frame_id_, "/map"); - // Create publisher if landmark_measurement_markers are to be published - nh.param("settings/publish_landmark_measurement_markers", publish_landmark_measurement_markers_, false); - if (publish_landmark_measurement_markers_) { - nh.param("settings/landmark_measurement_markers_topic", landmark_measurement_markers_topic, "/landmark_measurement_markers"); - landmark_measurement_vis_pub_ = n_.advertise(landmark_measurement_markers_topic, 1000); + // Create publishers visualization markers if requested + nh.param("settings/publish_visualization_markers", publish_visualization_markers_, false); + if (publish_visualization_markers_) { + string visualization_markers_topic; + nh.param("settings/visualization_markers_topic", visualization_markers_topic, "/markers"); + visualization_pub_ = n_.advertise(visualization_markers_topic, 1000); + ROS_INFO("Visualization topic publishing under %s.", visualization_markers_topic.c_str()); } } @@ -144,37 +145,65 @@ void InEKF_ROS::run() { void InEKF_ROS::subscribe() { // Create private node handle to get topic names ros::NodeHandle nh("~"); - string imu_topic, landmarks_topic; + string imu_topic; nh.param("settings/imu_topic", imu_topic, "/imu"); - nh.param("settings/landmarks_topic", landmarks_topic, "/landmarks"); + // Retrieve imu frame_id ROS_INFO("Waiting for IMU message..."); sensor_msgs::Imu::ConstPtr imu_msg = ros::topic::waitForMessage(imu_topic); imu_frame_id_ = imu_msg->header.frame_id; ROS_INFO("IMU message received. IMU frame is set to %s.", imu_frame_id_.c_str()); - ROS_INFO("Waiting for Landmark message..."); - inekf_msgs::LandmarkArray::ConstPtr landmark_msg = ros::topic::waitForMessage(landmarks_topic); - string camera_frame_id = landmark_msg->header.frame_id; - ROS_INFO("Landmark message received. Camera frame is set to %s.", camera_frame_id.c_str()); - - ROS_INFO("Waiting for tf lookup between frames %s and %s...", camera_frame_id.c_str(), imu_frame_id_.c_str()); - tf::TransformListener listener; - try { - listener.waitForTransform(imu_frame_id_, camera_frame_id, ros::Time(0), ros::Duration(10.0) ); - listener.lookupTransform(imu_frame_id_, camera_frame_id, ros::Time(0), camera_to_imu_transform_); - ROS_INFO("Tranform between frames %s and %s was found.", camera_frame_id.c_str(), imu_frame_id_.c_str()); - } catch (tf::TransformException ex) { - ROS_ERROR("%s. Using identity transform.",ex.what()); - camera_to_imu_transform_ = tf::StampedTransform( tf::Transform::getIdentity(), ros::Time::now(), camera_frame_id, imu_frame_id_); - } + // Retrieve camera frame_id and transformation between camera and imu + string landmarks_topic; + if (enable_landmarks_) { + nh.param("settings/landmarks_topic", landmarks_topic, "/landmarks"); + ROS_INFO("Waiting for Landmark message..."); + inekf_msgs::LandmarkArray::ConstPtr landmark_msg = ros::topic::waitForMessage(landmarks_topic); + string camera_frame_id = landmark_msg->header.frame_id; + // apriltag_msgs::AprilTagDetectionArray::ConstPtr landmark_msg = ros::topic::waitForMessage(landmarks_topic); + // while(landmark_msg->detections.size()==0) { + // landmark_msg = ros::topic::waitForMessage(landmarks_topic); + // if (landmark_msg->detections.size() != 0) + // break; + // } + // string camera_frame_id = landmark_msg->detections[0].pose.header.frame_id; + ROS_INFO("Landmark message received. Camera frame is set to %s.", camera_frame_id.c_str()); + + ROS_INFO("Waiting for tf lookup between frames %s and %s...", camera_frame_id.c_str(), imu_frame_id_.c_str()); + tf::TransformListener listener; + try { + listener.waitForTransform(imu_frame_id_, camera_frame_id, ros::Time(0), ros::Duration(10.0) ); + listener.lookupTransform(imu_frame_id_, camera_frame_id, ros::Time(0), camera_to_imu_transform_); + ROS_INFO("Tranform between frames %s and %s was found.", camera_frame_id.c_str(), imu_frame_id_.c_str()); + } catch (tf::TransformException ex) { + ROS_ERROR("%s. Using identity transform.",ex.what()); + camera_to_imu_transform_ = tf::StampedTransform( tf::Transform::getIdentity(), ros::Time::now(), camera_frame_id, imu_frame_id_); + } + } // Subscribe to IMU publisher ROS_INFO("Subscribing to %s.", imu_topic.c_str()); imu_sub_ = n_.subscribe(imu_topic, 1000, &InEKF_ROS::imuCallback, this); + // Subscribe to Landmark publisher - ROS_INFO("Subscribing to %s.", landmarks_topic.c_str()); - landmarks_sub_ = n_.subscribe(landmarks_topic, 1000, &InEKF_ROS::landmarkCallback, this); + if (enable_landmarks_) { + ROS_INFO("Subscribing to %s.", landmarks_topic.c_str()); + landmarks_sub_ = n_.subscribe(landmarks_topic, 1000, &InEKF_ROS::landmarkCallback, this); + // landmarks_sub_ = n_.subscribe(landmarks_topic, 1000, &InEKF_ROS::aprilTagCallback, this); + } + + // Subscribe to Kinematics and Contact publishers + if (enable_kinematics_) { + string kinematics_topic, contact_topic; + nh.param("settings/kinematics_topic", kinematics_topic, "/kinematics"); + nh.param("settings/contact_topic", contact_topic, "/contact"); + ROS_INFO("Subscribing to %s.", kinematics_topic.c_str()); + ROS_INFO("Subscribing to %s.", contact_topic.c_str()); + kinematics_sub_ = n_.subscribe(kinematics_topic, 1000, &InEKF_ROS::kinematicsCallback, this); + contact_sub_ = n_.subscribe(contact_topic, 1000, &InEKF_ROS::contactCallback, this); + } + } // IMU Callback function @@ -183,12 +212,40 @@ void InEKF_ROS::imuCallback(const sensor_msgs::Imu::ConstPtr& msg) { m_queue_.push(ptr); } +// Landmark Callback function +void InEKF_ROS::aprilTagCallback(const apriltag_msgs::AprilTagDetectionArray::ConstPtr& msg) { + // Convert from apriltag_msg to landmark + if (msg->detections.size() == 0) return; + inekf_msgs::LandmarkArray::Ptr msg2(new inekf_msgs::LandmarkArray); + msg2->header = msg->detections[0].pose.header; + for (auto it=msg->detections.begin(); it!=msg->detections.end(); ++it) { + inekf_msgs::Landmark landmark; + landmark.id = it->id; + landmark.position = it->pose.pose.position; + msg2->landmarks.push_back(landmark); + } + shared_ptr ptr(new LandmarkMeasurement(msg2, camera_to_imu_transform_)); + m_queue_.push(ptr); +} + // Landmark Callback function void InEKF_ROS::landmarkCallback(const inekf_msgs::LandmarkArray::ConstPtr& msg) { shared_ptr ptr(new LandmarkMeasurement(msg, camera_to_imu_transform_)); m_queue_.push(ptr); } +// Kinematics Callback function +void InEKF_ROS::kinematicsCallback(const inekf_msgs::KinematicsArray::ConstPtr& msg) { + shared_ptr ptr(new KinematicMeasurement(msg)); + m_queue_.push(ptr); +} + +// Contact Callback function +void InEKF_ROS::contactCallback(const inekf_msgs::ContactArray::ConstPtr& msg) { + shared_ptr ptr(new ContactMeasurement(msg)); + m_queue_.push(ptr); +} + void InEKF_ROS::mainFilteringThread() { cout << "Inside Main Filtering Thread\n"; shared_ptr m_ptr; @@ -219,7 +276,7 @@ void InEKF_ROS::mainFilteringThread() { // Handle measurement switch (m_ptr->getType()) { case IMU: { - //ROS_INFO("Propagating state with IMU measurements."); + // ROS_INFO("Propagating state with IMU measurements."); auto imu_ptr = dynamic_pointer_cast(m_ptr); t = imu_ptr->getTime(); filter_.Propagate(imu_ptr_last->getData(), t - t_last); @@ -228,28 +285,50 @@ void InEKF_ROS::mainFilteringThread() { break; } case LANDMARK: { - //ROS_INFO("Correcting state with LANDMARK measurements."); + // ROS_INFO("Correcting state with LANDMARK measurements."); auto landmark_ptr = dynamic_pointer_cast(m_ptr); filter_.CorrectLandmarks(landmark_ptr->getData()); - if (publish_landmark_measurement_markers_) { + if (publish_visualization_markers_) { this->publishLandmarkMeasurementMarkers(landmark_ptr); } break; } + case KINEMATIC: { + // ROS_INFO("Correcting state with KINEMATIC measurements."); + auto kinematic_ptr = dynamic_pointer_cast(m_ptr); + filter_.CorrectKinematics(kinematic_ptr->getData()); + if (publish_visualization_markers_) { + this->publishKinematicMeasurementMarkers(kinematic_ptr); + } + break; + } + case CONTACT: { + // ROS_INFO("Setting filter's contact state with CONTACT measurements."); + auto contact_ptr = dynamic_pointer_cast(m_ptr); + filter_.setContacts(contact_ptr->getData()); + // map contacts = filter_.getContacts(); + // for (auto it=contacts.begin(); it!=contacts.end(); ++it) { + // cout << "contact id: " << it->first << ", contact state: " << it->second << endl; + // } + break; + } default: cout << "Unknown measurement, skipping...\n"; } + // cout << filter_.getState() << endl; + // RobotState s = filter_.getState(); + // cout << "X dim: " << s.dimX() << endl; } } // Publish line markers between IMU and detected landmarks void InEKF_ROS::publishLandmarkMeasurementMarkers(shared_ptr ptr){ - // Create and send marker for estimated trajectory visualization + visualization_msgs::MarkerArray markers_msg; visualization_msgs::Marker landmark_measurement_msg; landmark_measurement_msg.header.frame_id = map_frame_id_; landmark_measurement_msg.header.stamp = ros::Time(ptr->getTime()); landmark_measurement_msg.header.seq = 0; - landmark_measurement_msg.ns = "trajectory"; + landmark_measurement_msg.ns = "landmark_measurements"; landmark_measurement_msg.type = visualization_msgs::Marker::LINE_LIST; landmark_measurement_msg.action = visualization_msgs::Marker::ADD; landmark_measurement_msg.id = 0; @@ -260,7 +339,7 @@ void InEKF_ROS::publishLandmarkMeasurementMarkers(shared_ptr ptr){ + visualization_msgs::MarkerArray markers_msg; + visualization_msgs::Marker kinematic_measurement_msg; + kinematic_measurement_msg.header.frame_id = map_frame_id_; + kinematic_measurement_msg.header.stamp = ros::Time(ptr->getTime()); + kinematic_measurement_msg.header.seq = 0; + kinematic_measurement_msg.ns = "kinematic_measurements"; + kinematic_measurement_msg.type = visualization_msgs::Marker::LINE_LIST; + kinematic_measurement_msg.action = visualization_msgs::Marker::ADD; + kinematic_measurement_msg.id = 0; + kinematic_measurement_msg.scale.x = 0.01; + kinematic_measurement_msg.scale.y = 0.01; + kinematic_measurement_msg.scale.z = 0.01; + kinematic_measurement_msg.color.a = 1.0; // Don't forget to set the alpha! + kinematic_measurement_msg.color.r = 1.0; + kinematic_measurement_msg.color.g = 0.0; + kinematic_measurement_msg.color.b = 1.0; + // kinematic_measurement_msg.lifetime = ros::Duration(100.0); + + geometry_msgs::Point base_point, contact_point; + RobotState state = filter_.getState(); + Eigen::MatrixXd X = state.getX(); + Eigen::Vector3d position = state.getPosition(); + base_point.x = position(0); + base_point.y = position(1); + base_point.z = position(2); + + vectorTupleIntMatrix4dMatrix6d measured_kinematics = ptr->getData(); + map estimated_contacts = filter_.getEstimatedContactPositions(); + for (auto it=measured_kinematics.begin(); it!=measured_kinematics.end(); ++it) { + // Search through estimated contacts + auto search_estimated = estimated_contacts.find(get<0>(*it)); + if (search_estimated != estimated_contacts.end()) { + contact_point.x = X(0,search_estimated->second); + contact_point.y = X(1,search_estimated->second); + contact_point.z = X(2,search_estimated->second); + kinematic_measurement_msg.points.push_back(base_point); + kinematic_measurement_msg.points.push_back(contact_point); + continue; + } + } + // Publish + markers_msg.markers.push_back(kinematic_measurement_msg); + visualization_pub_.publish(markers_msg); } // Thread for publishing the output of the filter @@ -333,23 +460,6 @@ void InEKF_ROS::outputPublishingThread() { ros::Publisher pose_pub = n_.advertise(pose_topic, 1000); ros::Publisher state_pub = n_.advertise(state_topic, 1000); static tf::TransformBroadcaster tf_broadcaster; - - // Create publishers for landmark position and trajectory markers if requested - ros::Publisher landmark_vis_pub, traj_vis_pub; - nh.param("settings/publish_landmark_position_markers", publish_landmark_position_markers_, false); - if (publish_landmark_position_markers_) { - string landmark_position_markers_topic; - nh.param("settings/landmark_position_markers_topic", landmark_position_markers_topic, "/landmark_position_markers"); - landmark_vis_pub = n_.advertise(landmark_position_markers_topic, 1000); - ROS_INFO("Landmark visualization topic publishing under %s.", landmark_position_markers_topic.c_str()); - } - nh.param("settings/publish_trajectory_markers", publish_trajectory_markers_, false); - if (publish_trajectory_markers_) { - string trajectory_markers_topic; - nh.param("settings/trajectory_markers_topic", trajectory_markers_topic, "/trajectory_markers"); - traj_vis_pub = n_.advertise(trajectory_markers_topic, 1000); - ROS_INFO("Trajectory visualization topic publishing under %s.", trajectory_markers_topic.c_str()); - } // Init loop params uint32_t seq = 0; @@ -427,17 +537,18 @@ void InEKF_ROS::outputPublishingThread() { state_msg.accelerometer_bias.z = ba(2); state_pub.publish(state_msg); - // Create and send markers for landmark visualization - mapIntVector3d prior_landmarks = filter_.getPriorLandmarks(); - if (publish_landmark_position_markers_) { - visualization_msgs::MarkerArray landmark_vis_msg; + // Create and send markers for visualization + if (publish_visualization_markers_) { + visualization_msgs::MarkerArray markers_msg; + // Add prior landmarks + mapIntVector3d prior_landmarks = filter_.getPriorLandmarks(); for (auto it=prior_landmarks.begin(); it!=prior_landmarks.end(); ++it) { visualization_msgs::Marker marker; marker.header.frame_id = map_frame_id_; marker.header.stamp = ros::Time::now(); marker.header.seq = seq; - marker.ns = "landmarks"; + marker.ns = "prior_landmarks"; marker.id = it->first; marker.type = visualization_msgs::Marker::SPHERE; marker.action = visualization_msgs::Marker::ADD; @@ -455,15 +566,17 @@ void InEKF_ROS::outputPublishingThread() { marker.color.r = 0.0; marker.color.g = 1.0; marker.color.b = 1.0; - landmark_vis_msg.markers.push_back(marker); + marker.lifetime = ros::Duration(0.1); + markers_msg.markers.push_back(marker); } + // Add estimated landmarks for (auto it=estimated_landmarks.begin(); it!=estimated_landmarks.end(); ++it) { visualization_msgs::Marker marker; marker.header.frame_id = map_frame_id_; marker.header.stamp = ros::Time::now(); marker.header.seq = seq; - marker.ns = "landmarks"; + marker.ns = "estimated_landmarks"; marker.id = it->first; marker.type = visualization_msgs::Marker::SPHERE; marker.action = visualization_msgs::Marker::ADD; @@ -481,37 +594,67 @@ void InEKF_ROS::outputPublishingThread() { marker.color.r = 0.0; marker.color.g = 1.0; marker.color.b = 0.0; - landmark_vis_msg.markers.push_back(marker); + marker.lifetime = ros::Duration(0.1); + markers_msg.markers.push_back(marker); + } + + // Add estimated contacts + map estimated_contacts = filter_.getEstimatedContactPositions(); + for (auto it=estimated_contacts.begin(); it!=estimated_contacts.end(); ++it) { + visualization_msgs::Marker marker; + marker.header.frame_id = map_frame_id_; + marker.header.stamp = ros::Time::now(); + marker.header.seq = seq; + marker.ns = "estimated_contacts"; + marker.id = it->first; + marker.type = visualization_msgs::Marker::SPHERE; + marker.action = visualization_msgs::Marker::ADD; + marker.pose.position.x = X(0,it->second); + marker.pose.position.y = X(1,it->second); + marker.pose.position.z = X(2,it->second); + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.scale.x = sqrt(P(3+3*(it->second-3),3+3*(it->second-3))); + marker.scale.y = sqrt(P(4+3*(it->second-3),4+3*(it->second-3))); + marker.scale.z = sqrt(P(5+3*(it->second-3),5+3*(it->second-3))); + marker.color.a = 1.0; // Don't forget to set the alpha! + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + marker.lifetime = ros::Duration(0.1); + markers_msg.markers.push_back(marker); } - landmark_vis_pub.publish(landmark_vis_msg); - } - // Create and send marker for estimated trajectory visualization - if (publish_trajectory_markers_) { - visualization_msgs::Marker traj_vis_msg; - traj_vis_msg.header.frame_id = map_frame_id_; - traj_vis_msg.header.stamp = ros::Time(); - traj_vis_msg.header.seq = seq; - traj_vis_msg.ns = "trajectory"; - traj_vis_msg.type = visualization_msgs::Marker::LINE_STRIP; - traj_vis_msg.action = visualization_msgs::Marker::ADD; - traj_vis_msg.id = seq; - traj_vis_msg.scale.x = 0.01; - traj_vis_msg.color.a = 1.0; // Don't forget to set the alpha! - traj_vis_msg.color.r = 1.0; - traj_vis_msg.color.g = 0.0; - traj_vis_msg.color.b = 0.0; - traj_vis_msg.lifetime = ros::Duration(100.0); + // Add trajectory + visualization_msgs::Marker traj_marker; + traj_marker.header.frame_id = map_frame_id_; + traj_marker.header.stamp = ros::Time(); + traj_marker.header.seq = seq; + traj_marker.ns = "trajectory"; + traj_marker.type = visualization_msgs::Marker::LINE_STRIP; + traj_marker.action = visualization_msgs::Marker::ADD; + traj_marker.id = seq; + traj_marker.scale.x = 0.01; + traj_marker.color.a = 1.0; // Don't forget to set the alpha! + traj_marker.color.r = 1.0; + traj_marker.color.g = 0.0; + traj_marker.color.b = 0.0; + traj_marker.lifetime = ros::Duration(100.0); geometry_msgs::Point point; point.x = position(0); point.y = position(1); point.z = position(2); if (seq>0){ - traj_vis_msg.points.push_back(point_last); - traj_vis_msg.points.push_back(point); - traj_vis_pub.publish(traj_vis_msg); + traj_marker.points.push_back(point_last); + traj_marker.points.push_back(point); + markers_msg.markers.push_back(traj_marker); } point_last = point; + + // Publish markers + visualization_pub_.publish(markers_msg); } seq++; diff --git a/inekf_ros/src/Measurement.cpp b/inekf_ros/src/Measurement.cpp index dd35e1c..558b68c 100644 --- a/inekf_ros/src/Measurement.cpp +++ b/inekf_ros/src/Measurement.cpp @@ -28,17 +28,50 @@ Eigen::VectorXd ImuMeasurement::getData() { return data_; } LandmarkMeasurement::LandmarkMeasurement(const inekf_msgs::LandmarkArray::ConstPtr& msg, const tf::StampedTransform& transform){ t_ = msg->header.stamp.toSec(); type_ = LANDMARK; - for (int i=0; ilandmarks.size(); ++i) { - tf::Vector3 p_cl(msg->landmarks[i].position.x, msg->landmarks[i].position.y, msg->landmarks[i].position.z); + for (auto it=msg->landmarks.begin(); it!=msg->landmarks.end(); ++it) { + tf::Vector3 p_cl(it->position.x, it->position.y, it->position.z); tf::Vector3 p_bl = transform*p_cl; // Transform measurement from camera frame to imu frame Eigen::Vector3d position; position << p_bl.getX(), p_bl.getY(), p_bl.getZ(); - data_.push_back(pair (msg->landmarks[i].id, position)); + data_.push_back(pair (it->id, position)); } } vectorPairIntVector3d LandmarkMeasurement::getData() { return data_; }; +// Construct Contact measurement +ContactMeasurement::ContactMeasurement(const inekf_msgs::ContactArray::ConstPtr& msg){ + t_ = msg->header.stamp.toSec(); + type_ = CONTACT; + for (auto it=msg->contacts.begin(); it!=msg->contacts.end(); ++it) { + data_.push_back(pair (it->id, it->indicator)); + } +} +vector> ContactMeasurement::getData() { return data_; }; + + +// Construct Kinematic measurement +KinematicMeasurement::KinematicMeasurement(const inekf_msgs::KinematicsArray::ConstPtr& msg){ + t_ = msg->header.stamp.toSec(); + type_ = KINEMATIC; + for (auto it=msg->frames.begin(); it!=msg->frames.end(); ++it) { + Eigen::Matrix4d pose = Eigen::Matrix4d::Identity(); + Eigen::Quaternion quat(it->pose.pose.orientation.w, it->pose.pose.orientation.x, it->pose.pose.orientation.y, it->pose.pose.orientation.z); + pose.block<3,3>(0,0) = quat.toRotationMatrix(); + pose(0,3) = it->pose.pose.position.x; + pose(1,3) = it->pose.pose.position.y; + pose(2,3) = it->pose.pose.position.z; + Eigen::Matrix covariance; + for (int i=0; i<6; ++i) { + for (int j=0; j<6; ++j) { + covariance(i,j) = it->pose.covariance[6*i+j]; // Assume row-major + } + } + data_.push_back(tuple> (it->id, pose, covariance)); + } +} +vectorTupleIntMatrix4dMatrix6d KinematicMeasurement::getData() { return data_; }; + // Print measurement ostream& operator<<(ostream& os, const Measurement& m) { string type_str; diff --git a/inekf_ros/tests/fake_contact_kinematics_publisher.cpp b/inekf_ros/tests/fake_contact_kinematics_publisher.cpp new file mode 100644 index 0000000..3ae2adf --- /dev/null +++ b/inekf_ros/tests/fake_contact_kinematics_publisher.cpp @@ -0,0 +1,105 @@ +#include "ros/ros.h" +#include "inekf_msgs/ContactArray.h" +#include "inekf_msgs/KinematicsArray.h" +#include + +using namespace std; + +/** + * Publishes fake contact and kinematics data over the /landmarks topic + */ +int main(int argc, char **argv) { + // Initialize ROS + ros::init(argc, argv, "fake_contact_kinematics_publisher"); + ros::NodeHandle n; + // Create Fake ContactArray publisher + ros::Publisher contact_pub = n.advertise("/contacts", 1000); + // Create Fake KinematicsArray publisher + ros::Publisher kinematics_pub = n.advertise("/kinematics", 1000); + + // Specify publishing frequency + ros::NodeHandle nh("~"); + float rate = 1; + nh.getParam("rate", rate); + cout << "Publishing landmarks at " << rate << " Hz." << endl; + ros::Rate loop_rate(rate); + + // Initialize random number generator + // default_random_engine generator; + // double landmark_std = 0.1; + // nh.getParam("noise/landmark_std", landmark_std); + // cout << "Landmark noise std: " << landmark_std << endl; + // normal_distribution landmark_noise(0,landmark_std); + + uint32_t seq = 0; + while (ros::ok()) { + + // Construct and send ContactArray message + inekf_msgs::ContactArray contact_msg; + + contact_msg.header.seq = seq; + contact_msg.header.stamp = ros::Time::now(); + contact_msg.header.frame_id = ""; + + inekf_msgs::Contact contact; + contact.id = 0; + if (seq < 1000) + contact.indicator = false; + else if (seq > 2500) + contact.indicator = false; + else + contact.indicator = true; + contact_msg.contacts.push_back(contact); + + contact.id = 1; + if (seq < 2000) + contact.indicator = false; + else if (seq > 5000) + contact.indicator = false; + else + contact.indicator = true; + contact_msg.contacts.push_back(contact); + contact_pub.publish(contact_msg); + + // Construct and send KinematicsArray message + inekf_msgs::KinematicsArray kinematics_msg; + + kinematics_msg.header.seq = seq; + kinematics_msg.header.stamp = ros::Time::now(); + kinematics_msg.header.frame_id = "/imu"; + + inekf_msgs::Kinematics frame; + frame.id = 0; + frame.pose.pose.position.x = 0; + frame.pose.pose.position.y = -0.1; + frame.pose.pose.position.z = -1; + frame.pose.pose.orientation.w = 1; + frame.pose.pose.orientation.x = 0; + frame.pose.pose.orientation.y = 0; + frame.pose.pose.orientation.z = 0; + boost::array cov = { {0.01,0,0,0,0,0, 0,0.01,0,0,0,0, 0,0,0.01,0,0,0, 0,0,0,0.01,0,0, 0,0,0,0,0.01,0, 0,0,0,0,0,0.01} }; + frame.pose.covariance = cov; + kinematics_msg.frames.push_back(frame); + + frame.id = 1; + frame.pose.pose.position.x = 0; + frame.pose.pose.position.y = 0.1; + frame.pose.pose.position.z = -1; + frame.pose.pose.orientation.w = 1; + frame.pose.pose.orientation.x = 0; + frame.pose.pose.orientation.y = 0; + frame.pose.pose.orientation.z = 0; + frame.pose.covariance = cov; + kinematics_msg.frames.push_back(frame); + + kinematics_pub.publish(kinematics_msg); + + // Spin and sleep + ros::spinOnce(); + loop_rate.sleep(); + seq++; + } + + + return 0; +} \ No newline at end of file diff --git a/inekf_ros/tests/fake_multi_landmark_publisher.cpp b/inekf_ros/tests/fake_landmark_publisher.cpp similarity index 94% rename from inekf_ros/tests/fake_multi_landmark_publisher.cpp rename to inekf_ros/tests/fake_landmark_publisher.cpp index f2daf19..ada37df 100644 --- a/inekf_ros/tests/fake_multi_landmark_publisher.cpp +++ b/inekf_ros/tests/fake_landmark_publisher.cpp @@ -10,7 +10,7 @@ using namespace std; */ int main(int argc, char **argv) { // Initialize ROS - ros::init(argc, argv, "fake_multi_landmark_publisher"); + ros::init(argc, argv, "fake_landmark_publisher"); ros::NodeHandle n; // Create Fake landmark publisher ros::Publisher imu_pub = n.advertise("/landmarks", 1000);