// callback function for odom data
void OdomEstimationNode::odomCallback(const OdomConstPtr& odom)
{
odom_callback_counter_++;
ROS_DEBUG("Odom callback at time %f ", ros::Time::now().toSec());
assert(odom_used_);
// receive data
boost::mutex::scoped_lock lock(odom_mutex_);
odom_stamp_ = odom->header.stamp;
odom_time_ = Time::now();
Quaternion q;
tf::quaternionMsgToTF(odom->pose.pose.orientation, q);
odom_meas_ = Transform(q, Vector3(odom->pose.pose.position.x, odom->pose.pose.position.y, 0));
for (unsigned int i=0; i<6; i++)
for (unsigned int j=0; j<6; j++)
odom_covariance_(i+1, j+1) = odom->pose.covariance[6*i+j];
my_filter_.addMeasurement(StampedTransform(odom_meas_.inverse(), odom_stamp_, "base_footprint", "wheelodom"), odom_covariance_);
// activate odom
if (!odom_active_) {
if (!odom_initializing_){
odom_initializing_ = true;
odom_init_stamp_ = odom_stamp_;
ROS_INFO("Initializing Odom sensor");
}
if ( filter_stamp_ >= odom_init_stamp_){
odom_active_ = true;
odom_initializing_ = false;
ROS_INFO("Odom sensor activated");
}
else ROS_DEBUG("Waiting to activate Odom, because Odom measurements are still %f sec in the future.",
(odom_init_stamp_ - filter_stamp_).toSec());
}
#ifdef __EKF_DEBUG_FILE__
// write to file
double tmp, yaw;
odom_meas_.getBasis().getEulerZYX(yaw, tmp, tmp);
odom_file_ << odom_meas_.getOrigin().x() << " " << odom_meas_.getOrigin().y() << " " << yaw << " " << endl;
#endif
};
// callback function for VO data
void OdomEstimationNode::voCallback(const VoConstPtr& vo)
{
vo_callback_counter_++;
assert(vo_used_);
// get data
boost::mutex::scoped_lock lock(vo_mutex_);
vo_stamp_ = vo->header.stamp;
vo_time_ = Time::now();
poseMsgToTF(vo->pose.pose, vo_meas_);
for (unsigned int i=0; i<6; i++)
for (unsigned int j=0; j<6; j++)
vo_covariance_(i+1, j+1) = vo->pose.covariance[6*i+j];
my_filter_.addMeasurement(StampedTransform(vo_meas_.inverse(), vo_stamp_, "base_footprint", "vo"), vo_covariance_);
// activate vo
if (!vo_active_) {
if (!vo_initializing_){
vo_initializing_ = true;
vo_init_stamp_ = vo_stamp_;
ROS_INFO("Initializing Vo sensor");
}
if (filter_stamp_ >= vo_init_stamp_){
vo_active_ = true;
vo_initializing_ = false;
ROS_INFO("Vo sensor activated");
}
else ROS_DEBUG("Waiting to activate VO, because VO measurements are still %f sec in the future.",
(vo_init_stamp_ - filter_stamp_).toSec());
}
#ifdef __EKF_DEBUG_FILE__
// write to file
double Rx, Ry, Rz;
vo_meas_.getBasis().getEulerZYX(Rz, Ry, Rx);
vo_file_ << vo_meas_.getOrigin().x() << " " << vo_meas_.getOrigin().y() << " " << vo_meas_.getOrigin().z() << " "
<< Rx << " " << Ry << " " << Rz << endl;
#endif
};
// filter loop
void OdomEstimationNode::spin(const ros::TimerEvent& e)
{
ROS_DEBUG("Spin function at time %f", ros::Time::now().toSec());
// check for timing problems
if ( (odom_initializing_ || odom_active_) && (imu_initializing_ || imu_active_) ){
double diff = fabs( Duration(odom_stamp_ - imu_stamp_).toSec() );
if (diff > 1.0) ROS_ERROR("Timestamps of odometry and imu are %f seconds apart.", diff);
}
// initial value for filter stamp; keep this stamp when no sensors are active
filter_stamp_ = Time::now();
// check which sensors are still active
if ((odom_active_ || odom_initializing_) &&
(Time::now() - odom_time_).toSec() > timeout_){
odom_active_ = false; odom_initializing_ = false;
ROS_INFO("Odom sensor not active any more");
}
if ((imu_active_ || imu_initializing_) &&
(Time::now() - imu_time_).toSec() > timeout_){
imu_active_ = false; imu_initializing_ = false;
ROS_INFO("Imu sensor not active any more");
}
if ((vo_active_ || vo_initializing_) &&
(Time::now() - vo_time_).toSec() > timeout_){
vo_active_ = false; vo_initializing_ = false;
ROS_INFO("VO sensor not active any more");
}
// only update filter when one of the sensors is active
if (odom_active_ || imu_active_ || vo_active_){
// update filter at time where all sensor measurements are available
if (odom_active_) filter_stamp_ = min(filter_stamp_, odom_stamp_);
if (imu_active_) filter_stamp_ = min(filter_stamp_, imu_stamp_);
if (vo_active_) filter_stamp_ = min(filter_stamp_, vo_stamp_);
// update filter
if ( my_filter_.isInitialized() ) {
bool diagnostics = true;
if (my_filter_.update(odom_active_, imu_active_, vo_active_, filter_stamp_, diagnostics)){
// output most recent estimate and relative covariance
my_filter_.getEstimate(output_);
pose_pub_.publish(output_);
ekf_sent_counter_++;
// broadcast most recent estimate to TransformArray
StampedTransform tmp;
my_filter_.getEstimate(ros::Time(), tmp);
if(!vo_active_)
tmp.getOrigin().setZ(0.0);
odom_broadcaster_.sendTransform(StampedTransform(tmp, tmp.stamp_, output_frame_, "base_footprint"));
if (debug_){
// write to file
ColumnVector estimate;
my_filter_.getEstimate(estimate);
for (unsigned int i=1; i<=6; i++)
corr_file_ << estimate(i) << " ";
corr_file_ << endl;
}
}
if (self_diagnose_ && !diagnostics)
ROS_WARN("Robot pose ekf diagnostics discovered a potential problem");
}
// initialize filer with odometry frame
if ( odom_active_ && !my_filter_.isInitialized()){
my_filter_.initialize(odom_meas_, odom_stamp_);
ROS_INFO("Kalman filter initialized with odom measurement");
}
else if ( vo_active_ && !my_filter_.isInitialized()){
my_filter_.initialize(vo_meas_, vo_stamp_);
ROS_INFO("Kalman filter initialized with vo measurement");
}
}
};
// callback function for imu data
void OdomEstimationNode::imuCallback(const ImuConstPtr& imu)
{
imu_callback_counter_++;
assert(imu_used_);
// receive data
imu_stamp_ = imu->header.stamp;
tf::Quaternion orientation;
quaternionMsgToTF(imu->orientation, orientation);
imu_meas_ = tf::Transform(orientation, tf::Vector3(0,0,0));
for (unsigned int i=0; i<3; i++)
for (unsigned int j=0; j<3; j++)
imu_covariance_(i+1, j+1) = imu->orientation_covariance[3*i+j];
// Transforms imu data to base_footprint frame
if (!robot_state_.waitForTransform("base_footprint", imu->header.frame_id, imu_stamp_, ros::Duration(0.5))){
// warn when imu was already activated, not when imu is not active yet
if (imu_active_)
ROS_ERROR("Could not transform imu message from %s to base_footprint", imu->header.frame_id.c_str());
else if (my_filter_.isInitialized())
ROS_WARN("Could not transform imu message from %s to base_footprint. Imu will not be activated yet.", imu->header.frame_id.c_str());
else
ROS_DEBUG("Could not transform imu message from %s to base_footprint. Imu will not be activated yet.", imu->header.frame_id.c_str());
return;
}
StampedTransform base_imu_offset;
robot_state_.lookupTransform("base_footprint", imu->header.frame_id, imu_stamp_, base_imu_offset);
imu_meas_ = imu_meas_ * base_imu_offset;
imu_time_ = Time::now();
// manually set covariance untile imu sends covariance
if (imu_covariance_(1,1) == 0.0){
SymmetricMatrix measNoiseImu_Cov(3); measNoiseImu_Cov = 0;
measNoiseImu_Cov(1,1) = pow(0.00017,2); // = 0.01 degrees / sec
measNoiseImu_Cov(2,2) = pow(0.00017,2); // = 0.01 degrees / sec
measNoiseImu_Cov(3,3) = pow(0.00017,2); // = 0.01 degrees / sec
imu_covariance_ = measNoiseImu_Cov;
}
my_filter_.addMeasurement(StampedTransform(imu_meas_.inverse(), imu_stamp_, "base_footprint", "imu"), imu_covariance_);
// activate imu
if (!imu_active_) {
if (!imu_initializing_){
imu_initializing_ = true;
imu_init_stamp_ = imu_stamp_;
ROS_INFO("Initializing Imu sensor");
}
if ( filter_stamp_ >= imu_init_stamp_){
imu_active_ = true;
imu_initializing_ = false;
ROS_INFO("Imu sensor activated");
}
else ROS_DEBUG("Waiting to activate IMU, because IMU measurements are still %f sec in the future.",
(imu_init_stamp_ - filter_stamp_).toSec());
}
if (debug_){
// write to file
double tmp, yaw;
imu_meas_.getBasis().getEulerYPR(yaw, tmp, tmp);
imu_file_ << yaw << endl;
}
};
