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[Estimation][VO] Refactor throttle/decimate process #558

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Sep 12, 2023
Merged

[Estimation][VO] Refactor throttle/decimate process #558

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1 change: 1 addition & 0 deletions aerial_robot_estimation/include/aerial_robot_estimation/sensor/vo.h
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,7 @@ namespace sensor_plugin
ros::Timer servo_control_timer_;

/* ros param */
double throttle_rate_;
double level_pos_noise_sigma_;
double z_pos_noise_sigma_;
double vel_noise_sigma_;
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18 changes: 12 additions & 6 deletions aerial_robot_estimation/src/sensor/vo.cpp
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Expand Up @@ -44,9 +44,6 @@ namespace
tf::Transform prev_sensor_tf;
tf::Vector3 baselink_omega;
tf::Matrix3x3 baselink_r;

//debug
double sample_interval = 0.02; //50 hz
}

namespace sensor_plugin
Expand Down Expand Up @@ -99,8 +96,6 @@ namespace sensor_plugin

void VisualOdometry::voCallback(const nav_msgs::Odometry::ConstPtr & vo_msg)
{
//if(vo_msg->header.stamp.toSec() - prev_timestamp_ < sample_interval) return;

/* only do egmotion estimate mode */
if(!getFuserActivate(aerial_robot_estimation::EGOMOTION_ESTIMATE))
{
Expand Down Expand Up @@ -139,9 +134,19 @@ namespace sensor_plugin
tf::Transform raw_sensor_tf;
tf::poseMsgToTF(vo_msg->pose.pose, raw_sensor_tf); // motion update

curr_timestamp_ = vo_msg->header.stamp.toSec() + delay_; //temporal update
/* temporal update */
curr_timestamp_ = vo_msg->header.stamp.toSec() + delay_;
reference_timestamp_ = curr_timestamp_;

/* throttle message */
if(throttle_rate_ > 0)
{
if (curr_timestamp_ - prev_timestamp_ < 1 / throttle_rate_)
{
return;
}
}

if(getStatus() == Status::INACTIVE)
{
/* for z */
Expand Down Expand Up @@ -598,6 +603,7 @@ namespace sensor_plugin
getParam<bool>("z_vel_mode", z_vel_mode_, false);
getParam<bool>("z_no_delay", z_no_delay_, false);
getParam<bool>("outdoor_no_vel_time_sync", outdoor_no_vel_time_sync_, false);
getParam<double>("throttle_rate", throttle_rate_, 0.0);
getParam<double>("level_pos_noise_sigma", level_pos_noise_sigma_, 0.01 );
getParam<double>("z_pos_noise_sigma", z_pos_noise_sigma_, 0.01 );
getParam<double>("vel_noise_sigma", vel_noise_sigma_, 0.05 );
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