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Fix NED/ENU angle conversion issues #3

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merged 2 commits into from
Mar 30, 2023
Merged

Fix NED/ENU angle conversion issues #3

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84dd91a
Fix deprecated use of rosidl_target_interfaces
SanderVanDijk-StreetDrone Oct 27, 2022
da07b4c
Fix
KhaledSaad-StreetDrone Mar 29, 2023
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5 changes: 3 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -119,8 +119,9 @@ target_link_libraries(sbg_device_mag ${catkin_LIBRARIES} sbgECom)
ament_target_dependencies(sbg_device ${USED_LIBRARIES})
ament_target_dependencies(sbg_device_mag ${USED_LIBRARIES})

rosidl_target_interfaces(sbg_device ${PROJECT_NAME} "rosidl_typesupport_cpp")
rosidl_target_interfaces(sbg_device_mag ${PROJECT_NAME} "rosidl_typesupport_cpp")
rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
target_link_libraries(sbg_device "${cpp_typesupport_target}")
target_link_libraries(sbg_device_mag "${cpp_typesupport_target}")

set_property(TARGET sbg_device PROPERTY CXX_STANDARD 14)
set_property(TARGET sbg_device_mag PROPERTY CXX_STANDARD 14)
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8 changes: 8 additions & 0 deletions include/sbg_driver/message_wrapper.h
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Expand Up @@ -110,6 +110,14 @@ class MessageWrapper : public rclcpp::Node
//- Internal methods -//
//---------------------------------------------------------------------//

/*!
* Wrap an angle to PI.
*
* \param[in] angle_rad Angle in rad.
* \return Wrapped angle.
*/
float wrapAnglePi(float angle_rad) const;

/*!
* Wrap an angle to 2 PI.
*
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43 changes: 31 additions & 12 deletions src/message_wrapper.cpp
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Expand Up @@ -35,6 +35,22 @@ Node("tf_broadcaster")
//- Internal methods -//
//---------------------------------------------------------------------//

float MessageWrapper::wrapAnglePi(float angle_rad) const
{
angle_rad = std::fmod(angle_rad, SBG_PI_F * 2.0f);
if (angle_rad > SBG_PI_F)
{
angle_rad -= SBG_PI_F * 2.0f;
}

if (angle_rad <= -SBG_PI_F)
{
angle_rad += SBG_PI_F * 2.0f;
}

return angle_rad;
}

float MessageWrapper::wrapAngle2Pi(float angle_rad) const
{
if ((angle_rad < -SBG_PI_F * 2.0f) || (angle_rad > SBG_PI_F * 2.0f))
Expand Down Expand Up @@ -570,7 +586,7 @@ const sbg_driver::msg::SbgEkfEuler MessageWrapper::createSbgEkfEulerMessage(cons
{
ekf_euler_message.angle.x = ref_log_ekf_euler.euler[0];
ekf_euler_message.angle.y = -ref_log_ekf_euler.euler[1];
ekf_euler_message.angle.z = wrapAngle2Pi((SBG_PI_F / 2.0f) - ref_log_ekf_euler.euler[2]);
ekf_euler_message.angle.z = wrapAnglePi((SBG_PI_F / 2.0f) - ref_log_ekf_euler.euler[2]);
}
else
{
Expand Down Expand Up @@ -643,19 +659,22 @@ const sbg_driver::msg::SbgEkfQuat MessageWrapper::createSbgEkfQuatMessage(const
ekf_quat_message.accuracy.y = ref_log_ekf_quat.eulerStdDev[1];
ekf_quat_message.accuracy.z = ref_log_ekf_quat.eulerStdDev[2];


ekf_quat_message.quaternion.x = ref_log_ekf_quat.quaternion[1];
ekf_quat_message.quaternion.y = ref_log_ekf_quat.quaternion[2];
ekf_quat_message.quaternion.z = ref_log_ekf_quat.quaternion[3];
ekf_quat_message.quaternion.w = ref_log_ekf_quat.quaternion[0];

if (m_use_enu_)
{
ekf_quat_message.quaternion.x = ref_log_ekf_quat.quaternion[1];
ekf_quat_message.quaternion.y = -ref_log_ekf_quat.quaternion[2];
ekf_quat_message.quaternion.z = -ref_log_ekf_quat.quaternion[3];
ekf_quat_message.quaternion.w = ref_log_ekf_quat.quaternion[0];
}
else
{
ekf_quat_message.quaternion.x = ref_log_ekf_quat.quaternion[1];
ekf_quat_message.quaternion.y = ref_log_ekf_quat.quaternion[2];
ekf_quat_message.quaternion.z = ref_log_ekf_quat.quaternion[3];
ekf_quat_message.quaternion.w = ref_log_ekf_quat.quaternion[0];
double ned_roll, ned_pitch, ned_yaw;
auto ned_quat = tf2::Quaternion{};
tf2::fromMsg(ekf_quat_message.quaternion, ned_quat);
tf2::Matrix3x3(ned_quat).getRPY(ned_roll, ned_pitch, ned_yaw);

auto enu_quat = tf2::Quaternion{};
enu_quat.setRPY(ned_roll, -ned_pitch, wrapAnglePi((SBG_PI_F / 2.0f) - ned_yaw));
ekf_quat_message.quaternion = tf2::toMsg(enu_quat);
}

return ekf_quat_message;
Expand Down