[Sprint 22/23 / PI-412] - [Feature] Implement TF2 Tree #61
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> > Co-authored-by: FaaizHaikal <faaizhaikal@gmail.com> Co-authored-by: hiikariri <ndaviss224@gmail.com>
…lues Co-authored-by: hiikariri <ndaviss224@gmail.com> Co-authored-by: FaaizHaikal <faaizhaikal@gmail.com>
Co-authored-by: hiikariri <ndaviss224@gmail.com> Co-authored-by: FaaizHaikal <faaizhaikal@gmail.com>
FaaizHaikal
reviewed
May 29, 2024
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| enum : uint8_t { | ||
| ROLL = 0, | ||
| PITCH = 1, | ||
| YAW = 2, | ||
| }; | ||
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No need to assign int values in enum
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| enum : uint8_t { | ||
| ODOM = 0, | ||
| BASE_LINK = 1, | ||
| TORSO = 2, | ||
| HEAD = 3, | ||
| GAZE = 4, | ||
| RIGHT_THIGH = 5, | ||
| RIGHT_CALF = 6, | ||
| RIGHT_FOOT = 7, | ||
| LEFT_THIGH = 8, | ||
| LEFT_CALF = 9, | ||
| LEFT_FOOT = 10 | ||
| }; |
| @@ -39,13 +39,14 @@ class TachimawariNode | |||
| explicit TachimawariNode( | |||
| rclcpp::Node::SharedPtr node, std::shared_ptr<control::ControlManager> control_manager); | |||
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| void run_joint_manager(); | |||
| void run_joint_manager(std::string path); | |||
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Suggested change
| void run_joint_manager(std::string path); | |
| void run_joint_manager(const std::string & path); |
| public: | ||
| explicit Tf2Manager(); | ||
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| bool load_configuration(std::string path); |
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Suggested change
| bool load_configuration(std::string path); | |
| bool load_configuration(const std::string & path); |
Comment on lines
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| } catch (nlohmann::json::parse_error & ex) { | ||
| std::cerr << "parse error at byte " << ex.byte << std::endl; | ||
| } | ||
| } |
There was a problem hiding this comment.
Better to throw the exception instead of letting the program running with unknown behavior.
Suggested change
| } catch (nlohmann::json::parse_error & ex) { | |
| std::cerr << "parse error at byte " << ex.byte << std::endl; | |
| } | |
| } | |
| } catch (nlohmann::json::parse_error & ex) { | |
| std::cerr << "parse error at byte " << ex.byte << std::endl; | |
| throw ex; | |
| } | |
| } |
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| private: | ||
| static const std::vector<std::pair<int, int>> tf2_joint_pairs; | ||
| std::string config_path; |
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cmiiw, i don't see this variable ever used
FaaizHaikal
reviewed
May 29, 2024
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| void run_imu_provider(); | ||
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| private: | ||
| rclcpp::Node::SharedPtr node; | ||
| rclcpp::TimerBase::SharedPtr node_timer; | ||
| rclcpp::TimerBase::SharedPtr node_timer_tf; |
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cmiiw, this also unused
FaaizHaikal
reviewed
May 29, 2024
Comment on lines
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| JointNode( | ||
| rclcpp::Node::SharedPtr node, std::shared_ptr<JointManager> joint_manager, std::string path); |
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Suggested change
| JointNode( | |
| rclcpp::Node::SharedPtr node, std::shared_ptr<JointManager> joint_manager, std::string path); | |
| JointNode( | |
| rclcpp::Node::SharedPtr node, std::shared_ptr<JointManager> joint_manager, const std::string & path); |
FaaizHaikal
reviewed
Jun 6, 2024
src/tachimawari/joint/tf2/frame.cpp
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| quaternion_w = q.w(); | ||
| } | ||
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| void Frame::update_quaternion(keisan::Angle<double> imu_yaw) |
src/tachimawari/joint/tf2/frame.cpp
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| { | ||
| } | ||
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| geometry_msgs::msg::TransformStamped Frame::get_transform_stamped(rclcpp::Time time_stamp) |
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If object is not modified in the function, can pass as const reference instead.
src/tachimawari/joint/tf2/frame.cpp
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| return t; | ||
| } | ||
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| void Frame::update_quaternion(std::vector<Joint> current_joints) |
src/tachimawari/joint/tf2/frame.cpp
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| quaternion_w = q.w(); | ||
| } | ||
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| double Frame::get_joint_angle(uint8_t quaternion_axis, std::vector<Joint> current_joints) |
| return true; | ||
| } | ||
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| void Tf2Manager::update(std::vector<Joint> current_joints, keisan::Angle<double> imu_yaw) |
JayantiTA
requested changes
Jun 7, 2024
| @@ -21,16 +21,23 @@ | |||
| #ifndef TACHIMAWARI__JOINT__NODE__JOINT_NODE_HPP_ | |||
| #define TACHIMAWARI__JOINT__NODE__JOINT_NODE_HPP_ | |||
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| #include <tf2_ros/buffer.h> | |||
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library order, check another files too
FaaizHaikal
approved these changes
Jun 8, 2024
JayantiTA
approved these changes
Jun 8, 2024
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Jira Link: https://ichiro-its.atlassian.net/browse/PD-412
Description
Implement TF2 to represent the robot's physical movements as transform frames and publish them.
Type of Change
How Has This Been Tested?
Checklist:
feature/JIRA-ID-SHORT-DESCRIPTIONif has a JIRA ticketenhancement/SHORT-DESCRIPTIONif has/has no JIRA ticket and contain enhancementhotfix/SHORT-DESCRIPTIONif the change doesn't need to be tested (urgent)