Rename Odometry Class to SteeringKinematics (#1996)

Author: kumar-sanjeeev

ackermann_steering_controller/src/ackermann_steering_controller.cpp

@@ -45,7 +45,7 @@ controller_interface::CallbackReturn AckermannSteeringController::configure_odom
 
   odometry_.set_wheel_params(
     traction_wheels_radius, wheelbase, steering_track_width, traction_track_width);
-  odometry_.set_odometry_type(steering_odometry::ACKERMANN_CONFIG);
+  odometry_.set_odometry_type(steering_kinematics::ACKERMANN_CONFIG);
 
   set_interface_numbers(NR_STATE_ITFS, NR_CMD_ITFS, NR_REF_ITFS);
 

bicycle_steering_controller/src/bicycle_steering_controller.cpp

@@ -35,7 +35,7 @@ controller_interface::CallbackReturn BicycleSteeringController::configure_odomet
   const double traction_wheel_radius = bicycle_params_.traction_wheel_radius;
 
   odometry_.set_wheel_params(traction_wheel_radius, wheelbase);
-  odometry_.set_odometry_type(steering_odometry::BICYCLE_CONFIG);
+  odometry_.set_odometry_type(steering_kinematics::BICYCLE_CONFIG);
 
   set_interface_numbers(NR_STATE_ITFS, NR_CMD_ITFS, NR_REF_ITFS);
 

steering_controllers_library/CMakeLists.txt

@@ -39,6 +39,7 @@ add_library(
   steering_controllers_library
   SHARED
   src/steering_controllers_library.cpp
+  src/steering_kinematics.cpp
   src/steering_odometry.cpp
 )
 target_compile_features(steering_controllers_library PUBLIC cxx_std_17)

steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp

@@ -33,7 +33,7 @@
 #include "tf2_msgs/msg/tf_message.hpp"
 
 #include "steering_controllers_library/steering_controllers_library_parameters.hpp"
-#include "steering_controllers_library/steering_odometry.hpp"
+#include "steering_controllers_library/steering_kinematics.hpp"
 
 namespace steering_controllers_library
 {
@@ -106,7 +106,7 @@ class SteeringControllersLibrary : public controller_interface::ChainableControl
   bool on_set_chained_mode(bool chained_mode) override;
 
   /// Odometry:
-  steering_odometry::SteeringOdometry odometry_;
+  steering_kinematics::SteeringKinematics odometry_;
 
   SteeringControllerStateMsg published_state_;
 

steering_controllers_library/include/steering_controllers_library/steering_kinematics.hpp

@@ -0,0 +1,308 @@
+// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Authors: dr. sc. Tomislav Petkovic, Dr. Ing. Denis Štogl
+//
+
+#ifndef STEERING_CONTROLLERS_LIBRARY__STEERING_KINEMATICS_HPP_
+#define STEERING_CONTROLLERS_LIBRARY__STEERING_KINEMATICS_HPP_
+
+#include <cmath>
+#include <tuple>
+#include <vector>
+
+#include <rclcpp/time.hpp>
+
+// \note The versions conditioning is added here to support the source-compatibility with Humble
+#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6
+#include "rcpputils/rolling_mean_accumulator.hpp"
+#else
+#include "rcppmath/rolling_mean_accumulator.hpp"
+#endif
+
+namespace steering_kinematics
+{
+const unsigned int BICYCLE_CONFIG = 0;
+const unsigned int TRICYCLE_CONFIG = 1;
+const unsigned int ACKERMANN_CONFIG = 2;
+
+inline bool is_close_to_zero(double val) { return std::fabs(val) < 1e-6; }
+
+/**
+ * \brief The SteeringKinematics class handles forward kinematics (odometry calculations) and
+ * inverse kinematics (getting commands) (2D pose and velocity with related timestamp)
+ */
+class SteeringKinematics
+{
+public:
+  /**
+   * \brief Constructor
+   * Timestamp will get the current time value
+   * Value will be set to zero
+   * \param velocity_rolling_window_size Rolling window size used to compute the velocity mean
+   *
+   */
+  explicit SteeringKinematics(size_t velocity_rolling_window_size = 10);
+
+  /**
+   * \brief Initialize the SteeringKinematics class
+   * \param time Current time
+   */
+  void init(const rclcpp::Time & time);
+
+  /**
+   * \brief Updates the SteeringKinematics class with latest wheels position
+   * \param traction_wheel_pos  traction wheel position [rad]
+   * \param steer_pos Steer wheel position [rad]
+   * \param dt      time difference to last call
+   * \return true if the odometry is actually updated
+   */
+  bool update_from_position(
+    const double traction_wheel_pos, const double steer_pos, const double dt);
+
+  /**
+   * \brief Updates the SteeringKinematics class with latest wheels position
+   * \param right_traction_wheel_pos  Right traction wheel velocity [rad]
+   * \param left_traction_wheel_pos  Left traction wheel velocity [rad]
+   * \param steer_pos Steer wheel position [rad]
+   * \param dt      time difference to last call
+   * \return true if the odometry is actually updated
+   */
+  bool update_from_position(
+    const double right_traction_wheel_pos, const double left_traction_wheel_pos,
+    const double steer_pos, const double dt);
+
+  /**
+   * \brief Updates the SteeringKinematics class with latest wheels position
+   * \param right_traction_wheel_pos  Right traction wheel position [rad]
+   * \param left_traction_wheel_pos  Left traction wheel position [rad]
+   * \param right_steer_pos Right steer wheel position [rad]
+   * \param left_steer_pos Left steer wheel position [rad]
+   * \param dt      time difference to last call
+   * \return true if the odometry is actually updated
+   */
+  bool update_from_position(
+    const double right_traction_wheel_pos, const double left_traction_wheel_pos,
+    const double right_steer_pos, const double left_steer_pos, const double dt);
+
+  /**
+   * \brief Updates the SteeringKinematics class with latest wheels position
+   * \param traction_wheel_vel  Traction wheel velocity [rad/s]
+   * \param steer_pos Steer wheel position [rad]
+   * \param dt      time difference to last call
+   * \return true if the odometry is actually updated
+   */
+  bool update_from_velocity(
+    const double traction_wheel_vel, const double steer_pos, const double dt);
+
+  /**
+   * \brief Updates the SteeringKinematics class with latest wheels position
+   * \param right_traction_wheel_vel  Right traction wheel velocity [rad/s]
+   * \param left_traction_wheel_vel  Left traction wheel velocity [rad/s]
+   * \param steer_pos Steer wheel position [rad]
+   * \param dt      time difference to last call
+   * \return true if the odometry is actually updated
+   */
+  bool update_from_velocity(
+    const double right_traction_wheel_vel, const double left_traction_wheel_vel,
+    const double steer_pos, const double dt);
+
+  /**
+   * \brief Updates the SteeringKinematics class with latest wheels position
+   * \param right_traction_wheel_vel  Right traction wheel velocity [rad/s]
+   * \param left_traction_wheel_vel  Left traction wheel velocity [rad/s]
+   * \param right_steer_pos Right steer wheel position [rad]
+   * \param left_steer_pos Left steer wheel position [rad]
+   * \param dt      time difference to last call
+   * \return true if the odometry is actually updated
+   */
+  bool update_from_velocity(
+    const double right_traction_wheel_vel, const double left_traction_wheel_vel,
+    const double right_steer_pos, const double left_steer_pos, const double dt);
+
+  /**
+   * \brief Updates the SteeringKinematics class with latest velocity command
+   * \param v_bx  Linear velocity   [m/s]
+   * \param omega_bz Angular velocity [rad/s]
+   * \param dt      time difference to last call
+   */
+  void update_open_loop(const double v_bx, const double omega_bz, const double dt);
+
+  /**
+   * \brief Set odometry type
+   * \param type odometry type
+   */
+  void set_odometry_type(const unsigned int type);
+
+  /**
+   * \brief Get odometry type
+   * \return odometry type
+   */
+  unsigned int get_odometry_type() const { return static_cast<unsigned int>(config_type_); }
+
+  /**
+   * \brief heading getter
+   * \return heading [rad]
+   */
+  double get_heading() const { return heading_; }
+
+  /**
+   * \brief x position getter
+   * \return x position [m]
+   */
+  double get_x() const { return x_; }
+
+  /**
+   * \brief y position getter
+   * \return y position [m]
+   */
+  double get_y() const { return y_; }
+
+  /**
+   * \brief linear velocity getter
+   * \return linear velocity [m/s]
+   */
+  double get_linear() const { return linear_; }
+
+  /**
+   * \brief angular velocity getter
+   * \return angular velocity [rad/s]
+   */
+  double get_angular() const { return angular_; }
+
+  /**
+   * \brief Sets the wheel parameters: radius, wheel_base, and wheel_track
+   */
+  void set_wheel_params(
+    const double wheel_radius, const double wheel_base = 0.0, const double wheel_track = 0.0);
+
+  /**
+   * \brief Sets the wheel parameters: radius, wheel_base, and wheel_track for steering and traction
+   */
+  void set_wheel_params(
+    const double wheel_radius, const double wheel_base, const double wheel_track_steering,
+    const double wheel_track_traction);
+
+  /**
+   * \brief Velocity rolling window size setter
+   * \param velocity_rolling_window_size Velocity rolling window size
+   */
+  void set_velocity_rolling_window_size(const size_t velocity_rolling_window_size);
+
+  /**
+   * \brief Calculates inverse kinematics for the desired linear and angular velocities
+   * \param v_bx     Desired linear velocity of the robot in x_b-axis direction
+   * \param omega_bz Desired angular velocity of the robot around x_z-axis
+   * \param open_loop If false, the IK will be calculated using measured steering angle
+   * \param reduce_wheel_speed_until_steering_reached Reduce wheel speed until the steering angle
+   * has been reached
+   * \return Tuple of velocity commands and steering commands
+   */
+  std::tuple<std::vector<double>, std::vector<double>> get_commands(
+    const double v_bx, const double omega_bz, const bool open_loop = true,
+    const bool reduce_wheel_speed_until_steering_reached = false);
+
+  /**
+   *  \brief Reset poses, heading, and accumulators
+   */
+  void reset_odometry();
+
+private:
+  /**
+   * \brief Uses precomputed linear and angular velocities to compute odometry
+   * \param v_bx  Linear  velocity   [m/s]
+   * \param omega_bz Angular velocity [rad/s]
+   * \param dt      time difference to last call
+   */
+  bool update_odometry(const double v_bx, const double omega_bz, const double dt);
+
+  /**
+   * \brief Integrates the velocities (linear and angular) using 2nd order Runge-Kutta
+   * \param v_bx Linear velocity [m/s]
+   * \param omega_bz Angular velocity [rad/s]
+   * \param dt time difference to last call
+   */
+  void integrate_runge_kutta_2(const double v_bx, const double omega_bz, const double dt);
+
+  /**
+   * \brief Integrates the velocities (linear and angular)
+   * \param v_bx Linear velocity [m/s]
+   * \param omega_bz Angular velocity [rad/s]
+   * \param dt time difference to last call
+   */
+  void integrate_fk(const double v_bx, const double omega_bz, const double dt);
+
+  /**
+   * \brief Calculates steering angle from the desired twist
+   * \param v_bx     Linear velocity of the robot in x_b-axis direction
+   * \param omega_bz Angular velocity of the robot around x_z-axis
+   */
+  double convert_twist_to_steering_angle(const double v_bx, const double omega_bz);
+
+  /**
+   * \brief Calculates linear velocity of a robot with double traction axle
+   * \param right_traction_wheel_vel  Right traction wheel velocity [rad/s]
+   * \param left_traction_wheel_vel  Left traction wheel velocity [rad/s]
+   * \param steer_pos Steer wheel position [rad]
+   */
+  double get_linear_velocity_double_traction_axle(
+    const double right_traction_wheel_vel, const double left_traction_wheel_vel,
+    const double steer_pos);
+
+  /**
+   *  \brief Reset linear and angular accumulators
+   */
+  void reset_accumulators();
+
+// \note The versions conditioning is added here to support the source-compatibility with Humble
+#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6
+  using RollingMeanAccumulator = rcpputils::RollingMeanAccumulator<double>;
+#else
+  using RollingMeanAccumulator = rcppmath::RollingMeanAccumulator<double>;
+#endif
+
+  /// Current timestamp:
+  rclcpp::Time timestamp_;
+
+  /// Current pose:
+  double x_;          //   [m]
+  double y_;          //   [m]
+  double steer_pos_;  // [rad]
+  double heading_;    // [rad]
+
+  /// Current velocity:
+  double linear_;   //   [m/s]
+  double angular_;  // [rad/s]
+
+  /// Kinematic parameters
+  double wheel_track_traction_;  // [m]
+  double wheel_track_steering_;  // [m]
+  double wheel_base_;            // [m]
+  double wheel_radius_;          // [m]
+
+  /// Configuration type used for the forward kinematics
+  int config_type_ = -1;
+
+  /// Previous wheel position/state [rad]:
+  double traction_wheel_old_pos_;
+  double traction_right_wheel_old_pos_;
+  double traction_left_wheel_old_pos_;
+  /// Rolling mean accumulators for the linear and angular velocities:
+  size_t velocity_rolling_window_size_;
+  RollingMeanAccumulator linear_acc_;
+  RollingMeanAccumulator angular_acc_;
+};
+}  // namespace steering_kinematics
+
+#endif  // STEERING_CONTROLLERS_LIBRARY__STEERING_KINEMATICS_HPP_