[mecanum_drive_controller] Fix Odometry Initialization (#1573)

Author: Juliaj

mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp

@@ -68,6 +68,11 @@ class Odometry
     ;
   }
 
+  const std::array<double, PLANAR_POINT_DIM> & getBaseFrameOffset() const
+  {
+    return base_frame_offset_;
+  }
+
   /// \brief Sets the wheels parameters: mecanum geometric param and radius
   /// \param sum_of_robot_center_projection_on_X_Y_axis Wheels geometric param
   /// (used in mecanum wheels' ik) [m]

mecanum_drive_controller/src/mecanum_drive_controller.cpp

@@ -107,6 +107,12 @@ controller_interface::CallbackReturn MecanumDriveController::on_configure(
     REAR_LEFT, params_.rear_left_wheel_command_joint_name,
     params_.rear_left_wheel_state_joint_name);
 
+  // Initialize odometry
+  std::array<double, PLANAR_POINT_DIM> base_frame_offset = {
+    {params_.kinematics.base_frame_offset.x, params_.kinematics.base_frame_offset.y,
+     params_.kinematics.base_frame_offset.theta}};
+  odometry_.init(get_node()->now(), base_frame_offset);
+
   // Set wheel params for the odometry computation
   odometry_.setWheelsParams(
     params_.kinematics.sum_of_robot_center_projection_on_X_Y_axis,

mecanum_drive_controller/test/mecanum_drive_controller_params.yaml

@@ -17,3 +17,24 @@ test_mecanum_drive_controller:
     enable_odom_tf: true
     twist_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
     pose_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
+
+
+test_mecanum_drive_controller_with_rotation:
+  ros__parameters:
+    reference_timeout: 5.0
+
+    front_left_wheel_command_joint_name: "front_left_wheel_joint"
+    front_right_wheel_command_joint_name: "front_right_wheel_joint"
+    rear_right_wheel_command_joint_name: "rear_right_wheel_joint"
+    rear_left_wheel_command_joint_name: "rear_left_wheel_joint"
+
+    kinematics:
+      base_frame_offset: { x: 1.0, y: 2.0, theta: 3.0 }
+      wheels_radius: 0.05
+      sum_of_robot_center_projection_on_X_Y_axis: 0.2925
+
+    base_frame_id: "base_link"
+    odom_frame_id: "odom"
+    enable_odom_tf: true
+    pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.001]
+    twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.001]

mecanum_drive_controller/test/test_mecanum_drive_controller.cpp

@@ -562,6 +562,92 @@ TEST_F(
   EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->twist.angular.z, 0.0);
 }
 
+TEST_F(MecanumDriveControllerTest, SideToSideAndRotationOdometryTest)
+{
+  // Initialize controller
+  SetUpController("test_mecanum_drive_controller_with_rotation");
+
+  // Configure
+  ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
+
+  // Check on the base frame offset is set by the params
+  EXPECT_EQ(controller_->odometry_.getBaseFrameOffset()[0], 1.0);
+  EXPECT_EQ(controller_->odometry_.getBaseFrameOffset()[1], 2.0);
+  EXPECT_EQ(controller_->odometry_.getBaseFrameOffset()[2], 3.0);
+
+  // Activate in chained mode
+  controller_->set_chained_mode(true);
+  ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
+  ASSERT_EQ(controller_->is_in_chained_mode(), true);
+
+  // Setup reference interfaces for side to side motion
+  auto side_to_side_motion = [this](double linear_y)
+  {
+    controller_->reference_interfaces_[0] = 0;         // linear x
+    controller_->reference_interfaces_[1] = linear_y;  // linear y
+    controller_->reference_interfaces_[2] = 0;         // angular z
+  };
+
+  // Setup reference interfaces for rotation
+  auto rotation_motion = [this](double rotation_velocity)
+  {
+    controller_->reference_interfaces_[0] = 0;                  // linear x
+    controller_->reference_interfaces_[1] = 0;                  // linear y
+    controller_->reference_interfaces_[2] = rotation_velocity;  // angular z
+  };
+
+  const double update_rate = 50.0;  // 50 Hz
+  const double dt = 1.0 / update_rate;
+  const double test_duration = 1.0;  // 1 second test
+  auto current_time = controller_->get_node()->now();
+
+  auto count = 0;
+  for (double t = 0; t < test_duration; t += dt)
+  {
+    switch (count % 4)
+    {
+      case 0:
+        side_to_side_motion(2.0);
+        break;
+      case 1:
+        rotation_motion(-0.5);
+        break;
+      case 2:
+        side_to_side_motion(-2.0);
+        break;
+      case 3:
+        rotation_motion(0.5);
+    }
+
+    // Call update method
+    ASSERT_EQ(
+      controller_->update(current_time, rclcpp::Duration::from_seconds(dt)),
+      controller_interface::return_type::OK);
+
+    current_time += rclcpp::Duration::from_seconds(dt);
+    count++;
+
+    // Update the state of the wheels for subsequent loop
+    size_t fl_index = controller_->get_front_left_wheel_index();
+    size_t fr_index = controller_->get_front_right_wheel_index();
+    size_t rl_index = controller_->get_rear_left_wheel_index();
+    size_t rr_index = controller_->get_rear_right_wheel_index();
+    joint_state_values_[fl_index] = controller_->command_interfaces_[fl_index].get_value();
+    joint_state_values_[fr_index] = controller_->command_interfaces_[fr_index].get_value();
+    joint_state_values_[rl_index] = controller_->command_interfaces_[rl_index].get_value();
+    joint_state_values_[rr_index] = controller_->command_interfaces_[rr_index].get_value();
+  }
+
+  RCLCPP_INFO(
+    controller_->get_node()->get_logger(), "odometry: %f, %f, %f", controller_->odometry_.getX(),
+    controller_->odometry_.getY(), controller_->odometry_.getRz());
+
+  // Verify odometry remains bounded
+  EXPECT_LT(std::abs(controller_->odometry_.getX()), 1.0);
+  EXPECT_LT(std::abs(controller_->odometry_.getY()), 1.0);
+  EXPECT_LT(std::abs(controller_->odometry_.getRz()), M_PI);
+}
+
 int main(int argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);

mecanum_drive_controller/test/test_mecanum_drive_controller.hpp

@@ -82,6 +82,7 @@ class TestableMecanumDriveController : public mecanum_drive_controller::MecanumD
   FRIEND_TEST(
     MecanumDriveControllerTest,
     when_ref_timeout_zero_for_reference_callback_expect_reference_msg_being_used_only_once);
+  FRIEND_TEST(MecanumDriveControllerTest, SideToSideAndRotationOdometryTest);
 
 public:
   controller_interface::CallbackReturn on_configure(