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Use imu rotation to estimate orientation of odometry #623

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Use imu rotation to estimate orientation of odometry #623

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848ba77
add imu subcriber and imu rotation transform computation
val-ba Nov 15, 2024
1aab535
use imu orientation in base to sole transform instead
val-ba Nov 15, 2024
53fa166
change type of rotations
val-ba Nov 15, 2024
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11 changes: 10 additions & 1 deletion bitbots_navigation/bitbots_odometry/include/bitbots_odometry/motion_odometry.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,11 @@

#include <biped_interfaces/msg/phase.hpp>
#include <bitbots_utils/utils.hpp>
#include <geometry_msgs/msg/quaternion_stamped.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/joint_state.hpp>
#include <std_msgs/msg/char.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
Expand All @@ -31,11 +33,12 @@ class MotionOdometry : public rclcpp::Node {
rclcpp::Time current_support_state_time_{rclcpp::Time(0, 0, RCL_ROS_TIME)};
nav_msgs::msg::Odometry current_odom_msg_;
tf2::Transform odometry_to_support_foot_;
std::string base_link_frame_, r_sole_frame_, l_sole_frame_, odom_frame_;
std::string base_link_frame_, r_sole_frame_, l_sole_frame_, odom_frame_, imu_frame_;
rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr pub_odometry_;
rclcpp::Subscription<biped_interfaces::msg::Phase>::SharedPtr walk_support_state_sub_;
rclcpp::Subscription<biped_interfaces::msg::Phase>::SharedPtr kick_support_state_sub_;
rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_subscriber_;
rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_subscriber_;

// Declare parameter listener and struct from the generate_parameter_library
motion_odometry::ParamListener param_listener_;
Expand All @@ -44,6 +47,7 @@ class MotionOdometry : public rclcpp::Node {

void supportCallback(const biped_interfaces::msg::Phase::SharedPtr msg);
void odomCallback(const nav_msgs::msg::Odometry::SharedPtr msg);
void IMUCallback(const sensor_msgs::msg::Imu::SharedPtr msg);

tf2_ros::Buffer tf_buffer_;
tf2_ros::TransformListener tf_listener_;
Expand All @@ -52,6 +56,11 @@ class MotionOdometry : public rclcpp::Node {
std::string previous_support_link_;
std::string current_support_link_;
rclcpp::Time start_time_;

tf2::Quaternion current_imu_orientation_;
tf2::Quaternion initial_imu_transform_;

bool is_initial_transform_set_ = false;
};

} // namespace bitbots_odometry
32 changes: 25 additions & 7 deletions bitbots_navigation/bitbots_odometry/src/motion_odometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,13 +18,17 @@ MotionOdometry::MotionOdometry()
this->get_parameter("l_sole_frame", l_sole_frame_);
this->declare_parameter<std::string>("odom_frame", "odom");
this->get_parameter("odom_frame", odom_frame_);
this->declare_parameter<std::string>("imu_frame", "imu_frame");
this->get_parameter("imu_frame", imu_frame_);

walk_support_state_sub_ = this->create_subscription<biped_interfaces::msg::Phase>(
"walk_support_state", 1, std::bind(&MotionOdometry::supportCallback, this, _1));
kick_support_state_sub_ = this->create_subscription<biped_interfaces::msg::Phase>(
"dynamic_kick_support_state", 1, std::bind(&MotionOdometry::supportCallback, this, _1));
odom_subscriber_ = this->create_subscription<nav_msgs::msg::Odometry>(
"walk_engine_odometry", 1, std::bind(&MotionOdometry::odomCallback, this, _1));
imu_subscriber_ = this->create_subscription<sensor_msgs::msg::Imu>("imu/data", 1,
std::bind(&MotionOdometry::IMUCallback, this, _1));

pub_odometry_ = this->create_publisher<nav_msgs::msg::Odometry>("motion_odometry", 1);

Expand Down Expand Up @@ -75,12 +79,10 @@ void MotionOdometry::loop() {
x = x * config_.x_backward_scaling;
}
double y = previous_to_current_support.getOrigin().y() * config_.y_scaling;
double yaw = tf2::getYaw(previous_to_current_support.getRotation()) * config_.yaw_scaling;
previous_to_current_support.setOrigin({x, y, 0});
tf2::Quaternion q;
q.setRPY(0, 0, yaw);
previous_to_current_support.setRotation(q);

odometry_to_support_foot_ = odometry_to_support_foot_ * previous_to_current_support;

} catch (tf2::TransformException &ex) {
RCLCPP_WARN(this->get_logger(), "%s", ex.what());
rclcpp::sleep_for(std::chrono::milliseconds(1000));
Expand All @@ -100,6 +102,9 @@ void MotionOdometry::loop() {
try {
geometry_msgs::msg::TransformStamped current_support_to_base_msg =
tf_buffer_.lookupTransform(previous_support_link_, base_link_frame_, rclcpp::Time(0, 0, RCL_ROS_TIME));
geometry_msgs::msg::TransformStamped imu_to_base_msg =
tf_buffer_.lookupTransform(imu_frame_, base_link_frame_, rclcpp::Time(0, 0, RCL_ROS_TIME));

tf2::Transform current_support_to_base;
tf2::fromMsg(current_support_to_base_msg.transform, current_support_to_base);
double x = current_support_to_base.getOrigin().x();
Expand All @@ -109,10 +114,13 @@ void MotionOdometry::loop() {
x = x * config_.x_backward_scaling;
}
double y = current_support_to_base.getOrigin().y() * config_.y_scaling;
double yaw = tf2::getYaw(current_support_to_base.getRotation()) * config_.yaw_scaling;
current_support_to_base.setOrigin({x, y, current_support_to_base.getOrigin().z()});

tf2::Quaternion q;
q.setRPY(0, 0, yaw);
tf2::Transform imu_to_base;
fromMsg(imu_to_base_msg.transform, imu_to_base);
q = current_imu_orientation_ * initial_imu_transform_ * imu_to_base.getRotation();

current_support_to_base.setOrigin({x, y, current_support_to_base.getOrigin().z()});
current_support_to_base.setRotation(q);

tf2::Transform odom_to_base_link = odometry_to_support_foot_ * current_support_to_base;
Expand Down Expand Up @@ -177,6 +185,16 @@ void MotionOdometry::supportCallback(const biped_interfaces::msg::Phase::SharedP

void MotionOdometry::odomCallback(const nav_msgs::msg::Odometry::SharedPtr msg) { current_odom_msg_ = *msg; }

void MotionOdometry::IMUCallback(const sensor_msgs::msg::Imu::SharedPtr msg) {
tf2::fromMsg(msg->orientation, current_imu_orientation_);
if (is_initial_transform_set_ == false) {
is_initial_transform_set_ = true;
initial_imu_transform_ = current_imu_orientation_;
initial_imu_transform_.setW(-1.0);
initial_imu_transform_.normalize();
}
}

} // namespace bitbots_odometry

int main(int argc, char **argv) {
Expand Down
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