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merged master->ros2

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matlabbe
2025-07-04 15:02:12 -07:00
parent aa7f42a57e 3cc9db8f87
commit 42142de82c
4 changed files with 99 additions and 12 deletions
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rtabmap_odom/include/rtabmap_odom/OdometryROS.h
+1
View File
@@ -173,6 +173,7 @@ private:
rtabmap::Transform guess_;
rtabmap::Transform guessPreviousPose_;
double previousStamp_;
double previousClockTime_;
double expectedUpdateRate_;
double maxUpdateRate_;
double minUpdateRate_;
rtabmap_odom/src/OdometryROS.cpp
+79 -5
View File
@@ -84,7 +84,11 @@ OdometryROS::OdometryROS(const std::string & name, const rclcpp::NodeOptions & o
paused_(false),
resetCountdown_(0),
resetCurrentCount_(0),
stereoParams_(false),
visParams_(false),
icpParams_(false),
previousStamp_(0.0),
previousClockTime_(0.0),
expectedUpdateRate_(0.0),
maxUpdateRate_(0.0),
minUpdateRate_(0.0),
@@ -577,7 +581,36 @@ void OdometryROS::mainLoop()
Transform groundTruth;
if(!data.imageRaw().empty() || !data.laserScanRaw().isEmpty())
{
if(previousStamp_>0.0 && previousStamp_ >= rtabmap_conversions::timestampFromROS(header.stamp))
// Detect time jump in the past
double clockNow = now().seconds();
if(previousClockTime_ > clockNow)
{
RCLCPP_WARN(this->get_logger(), "Odometry: Detected jump back in time of %f sec. Odometry is "
"automatically reset to latest computed pose!",
previousClockTime_ - clockNow);
SensorData dataCpy = dataToProcess_;
std_msgs::msg::Header headerCpy = dataHeaderToProcess_;
double previousCpy = previousClockTime_;
this->reset(odometry_->getPose());
if(clockNow > rtabmap_conversions::timestampFromROS(headerCpy.stamp)) {
// new frame is using new clock, process it now
dataToProcess_ = dataCpy;
dataHeaderToProcess_ = headerCpy;
dataReady_.release();
RCLCPP_WARN(this->get_logger(), "Odometry: Restarting with frame: %f (clock previous=%f, new=%f)",
rtabmap_conversions::timestampFromROS(headerCpy.stamp), previousCpy, clockNow);
}
else {
// skip that old frame
RCLCPP_WARN(this->get_logger(), "Odometry: skipping frame: %f (clock previous=%f, new=%f)",
rtabmap_conversions::timestampFromROS(headerCpy.stamp), previousCpy, clockNow);
}
previousClockTime_ = clockNow;
return;
}
previousClockTime_ = clockNow;
if(previousStamp_ >= rtabmap_conversions::timestampFromROS(header.stamp))
{
RCLCPP_WARN(this->get_logger(), "Odometry: Detected not valid consecutive stamps (previous=%fs new=%fs). "
"New stamp should be always greater than previous stamp. This new data is ignored.",
@@ -677,7 +710,17 @@ void OdometryROS::mainLoop()
correctionMsg.header.stamp = header.stamp;
Transform correction = odometry_->getPose() * guess_ * guessCurrentPose.inverse();
rtabmap_conversions::transformToGeometryMsg(correction, correctionMsg.transform);
tfBroadcaster_->sendTransform(correctionMsg);
double time_now = now().seconds();
if(time_now >= previousClockTime_) {
tfBroadcaster_->sendTransform(correctionMsg);
}
else {
RCLCPP_WARN(this->get_logger(), "TF %s->%s is not published because we detected a time jump in the past of %f sec.",
correctionMsg.header.frame_id.c_str(),
correctionMsg.child_frame_id.c_str(),
previousClockTime_ - time_now);
}
}
guessPreviousPose_ = guessCurrentPose;
return;
@@ -731,11 +774,30 @@ void OdometryROS::mainLoop()
correctionMsg.header.stamp = header.stamp;
Transform correction = pose * guessCurrentPose.inverse();
rtabmap_conversions::transformToGeometryMsg(correction, correctionMsg.transform);
tfBroadcaster_->sendTransform(correctionMsg);
double time_now = now().seconds();
if(time_now >= previousClockTime_) {
tfBroadcaster_->sendTransform(correctionMsg);
}
else {
RCLCPP_WARN(this->get_logger(), "TF %s->%s is not published because we detected a time jump in the past of %f sec.",
correctionMsg.header.frame_id.c_str(),
correctionMsg.child_frame_id.c_str(),
previousClockTime_ - time_now);
}
}
else
{
tfBroadcaster_->sendTransform(poseMsg);
double time_now = now().seconds();
if(time_now >= previousClockTime_) {
tfBroadcaster_->sendTransform(poseMsg);
}
else {
RCLCPP_WARN(this->get_logger(), "TF %s->%s is not published because we detected a time jump in the past of %f sec.",
poseMsg.header.frame_id.c_str(),
poseMsg.child_frame_id.c_str(),
previousClockTime_ - time_now);
}
}
}
@@ -927,7 +989,18 @@ void OdometryROS::mainLoop()
correctionMsg.header.stamp = header.stamp;
Transform correction = odometry_->getPose() * guess_ * guessCurrentPose.inverse();
rtabmap_conversions::transformToGeometryMsg(correction, correctionMsg.transform);
tfBroadcaster_->sendTransform(correctionMsg);
double time_now = now().seconds();
if(time_now >= previousClockTime_) {
tfBroadcaster_->sendTransform(correctionMsg);
}
else {
RCLCPP_WARN(this->get_logger(), "TF %s->%s is not published because its stamp (%f) is greater "
"than current time (%f), possible time jump happened!",
correctionMsg.header.frame_id.c_str(),
correctionMsg.child_frame_id.c_str(),
rtabmap_conversions::timestampFromROS(correctionMsg.header.stamp),
time_now);
}
}
}
@@ -1167,6 +1240,7 @@ void OdometryROS::reset(const Transform & pose)
guess_.setNull();
guessPreviousPose_.setNull();
previousStamp_ = 0.0;
previousClockTime_ = 0.0;
resetCurrentCount_ = resetCountdown_;
imuProcessed_ = false;
dataToProcess_ = SensorData();