From ccc56ea31a7ce349bb3f22c9401163ea5163b9d0 Mon Sep 17 00:00:00 2001
From: shernand <shernand@iri.upc.edu>
Date: Thu, 16 Sep 2021 08:50:02 +0200
Subject: [PATCH] Solved a bug: the time stamp published was the one taken from
the Arduinos instead of the computer time. This caused some TF problems.
---
config/params.yaml | 4 ++--
config/params_no_tf.yaml | 4 ++--
src/model_car_odometry_alg_node.cpp | 8 ++++----
3 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/config/params.yaml b/config/params.yaml
index 74babd7..abec683 100644
--- a/config/params.yaml
+++ b/config/params.yaml
@@ -10,7 +10,7 @@ filter_coeff: 0.3
speed_deadband: 0.1
max_steer_angle: 0.5
min_steer_angle: -0.5
-max_steer_control: 62.0
-min_steer_control: -77.0
+max_steer_control: 77.0
+min_steer_control: -62.0
publish_tf: True
diff --git a/config/params_no_tf.yaml b/config/params_no_tf.yaml
index 6a370c1..0a78dbe 100644
--- a/config/params_no_tf.yaml
+++ b/config/params_no_tf.yaml
@@ -10,7 +10,7 @@ filter_coeff: 0.3
speed_deadband: 0.1
max_steer_angle: 0.5
min_steer_angle: -0.5
-max_steer_control: 62.0
-min_steer_control: -77.0
+max_steer_control: 77.0
+min_steer_control: -62.0
publish_tf: False
diff --git a/src/model_car_odometry_alg_node.cpp b/src/model_car_odometry_alg_node.cpp
index 1e41ee3..1801511 100644
--- a/src/model_car_odometry_alg_node.cpp
+++ b/src/model_car_odometry_alg_node.cpp
@@ -69,7 +69,7 @@ void ModelCarOdometryAlgNode::mainNodeThread(void)
else
{
this->odom_Odometry_msg_.header.frame_id=this->config_.odom_frame;
- this->odom_Odometry_msg_.header.stamp=this->encoder_data.header.stamp;
+ this->odom_Odometry_msg_.header.stamp=ros::Time::now();
this->odom_Odometry_msg_.child_frame_id=this->config_.robot_frame;
// compute the increment of time
dt=(this->odom_Odometry_msg_.header.stamp-last_time).toSec();
@@ -139,7 +139,7 @@ void ModelCarOdometryAlgNode::mainNodeThread(void)
if(this->config_.publish_tf)
{
- this->transform_msg.header.stamp = this->encoder_data.header.stamp;
+ this->transform_msg.header.stamp = ros::Time::now();
this->transform_msg.header.frame_id = this->config_.odom_frame;
this->transform_msg.child_frame_id = this->config_.robot_frame;
this->transform_msg.transform.translation.x = x;
@@ -149,7 +149,7 @@ void ModelCarOdometryAlgNode::mainNodeThread(void)
this->tf2_broadcaster.sendTransform(this->transform_msg);
}
// publish ackermann specific data
- this->ackermann_feedback_AckermannDriveStamped_msg_.header.stamp=this->encoder_data.header.stamp;
+ this->ackermann_feedback_AckermannDriveStamped_msg_.header.stamp=this->odom_Odometry_msg_.header.stamp;
this->ackermann_feedback_AckermannDriveStamped_msg_.drive.speed=this->odom_Odometry_msg_.twist.twist.linear.x;
this->ackermann_feedback_AckermannDriveStamped_msg_.drive.acceleration=0.0;
this->ackermann_feedback_AckermannDriveStamped_msg_.drive.jerk=0.0;
@@ -159,7 +159,7 @@ void ModelCarOdometryAlgNode::mainNodeThread(void)
last_steering_angle=this->steering_angle;
}
- last_time=this->encoder_data.header.stamp;
+ last_time=this->odom_Odometry_msg_.header.stamp;
}
}
// [fill msg structures]
--
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