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Adds pose and twist with covariance messages bridging #222

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merged 18 commits into from
Apr 27, 2022
Merged

Adds pose and twist with covariance messages bridging #222

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7ce0ae7
Changed templates
adityapande-1995 Mar 7, 2022
1403fc5
Removed debug statements
adityapande-1995 Mar 7, 2022
20b24e8
Added twist with covariance msg bridge
adityapande-1995 Mar 7, 2022
57681a3
Populate cov matrix
adityapande-1995 Mar 8, 2022
9d345b1
bridged odometry (ros) and odometry with covariance (ign)
adityapande-1995 Mar 8, 2022
a2aff09
Added tests for PoseWithCovariance
adityapande-1995 Mar 9, 2022
1bd8b1d
Added tests for TwistWithCovariance
adityapande-1995 Mar 9, 2022
e1f9cec
Added tests for OdometryWithCovariance
adityapande-1995 Mar 9, 2022
c7fc616
Updated README, check size of Float_V before conversion to ros msg
adityapande-1995 Mar 9, 2022
a1bec61
linter
adityapande-1995 Mar 9, 2022
4851f46
Populate covariance matrix with nontrivial values
adityapande-1995 Mar 10, 2022
c74af28
Tests check for nontrivial covariance matrix
adityapande-1995 Mar 10, 2022
bb52954
Changed nav_msgs.cpp to snake_case
adityapande-1995 Mar 11, 2022
8154303
Linter fixes
adityapande-1995 Apr 25, 2022
b6e3dab
Linter fixes
adityapande-1995 Apr 25, 2022
3e33a26
Liner fixes
adityapande-1995 Apr 25, 2022
80130d2
Fixed test failures
adityapande-1995 Apr 27, 2022
557a680
Flake8 fixes
adityapande-1995 Apr 27, 2022
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93 changes: 48 additions & 45 deletions ros_ign_bridge/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -6,51 +6,54 @@ between ROS and Ignition Transport.
The bridge is currently implemented in C++. At this point there's no support for
service calls. Its support is limited to only the following message types:

| ROS type | Ignition Transport type |
|--------------------------------------|:------------------------------------:|
| builtin_interfaces/msg/Time | ignition::msgs::Time |
| std_msgs/msg/Bool | ignition::msgs::Boolean |
| std_msgs/msg/ColorRGBA | ignition::msgs::Color |
| std_msgs/msg/Empty | ignition::msgs::Empty |
| std_msgs/msg/Float32 | ignition::msgs::Float |
| std_msgs/msg/Float64 | ignition::msgs::Double |
| std_msgs/msg/Header | ignition::msgs::Header |
| std_msgs/msg/Int32 | ignition::msgs::Int32 |
| std_msgs/msg/UInt32 | ignition::msgs::UInt32 |
| std_msgs/msg/String | ignition::msgs::StringMsg |
| geometry_msgs/msg/Wrench | ignition::msgs::Wrench |
| geometry_msgs/msg/Quaternion | ignition::msgs::Quaternion |
| geometry_msgs/msg/Vector3 | ignition::msgs::Vector3d |
| geometry_msgs/msg/Point | ignition::msgs::Vector3d |
| geometry_msgs/msg/Pose | ignition::msgs::Pose |
| geometry_msgs/msg/PoseStamped | ignition::msgs::Pose |
| geometry_msgs/msg/Transform | ignition::msgs::Pose |
| geometry_msgs/msg/TransformStamped | ignition::msgs::Pose |
| geometry_msgs/msg/Twist | ignition::msgs::Twist |
| mav_msgs/msg/Actuators (TODO) | ignition::msgs::Actuators (TODO) |
| nav_msgs/msg/Odometry | ignition::msgs::Odometry |
| ros_ign_interfaces/msg/Contact | ignition::msgs::Contact |
| ros_ign_interfaces/msg/Contacts | ignition::msgs::Contacts |
| ros_ign_interfaces/msg/Entity | ignition::msgs::Entity |
| ros_ign_interfaces/msg/GuiCamera | ignition::msgs::GUICamera |
| ros_ign_interfaces/msg/JointWrench | ignition::msgs::JointWrench |
| ros_ign_interfaces/msg/Light | ignition::msgs::Light |
| ros_ign_interfaces/msg/StringVec | ignition::msgs::StringMsg_V |
| ros_ign_interfaces/msg/TrackVisual | ignition::msgs::TrackVisual |
| ros_ign_interfaces/msg/VideoRecord | ignition::msgs::VideoRecord |
| ros_ign_interfaces/msg/WorldControl | ignition::msgs::WorldControl |
| rosgraph_msgs/msg/Clock | ignition::msgs::Clock |
| sensor_msgs/msg/BatteryState | ignition::msgs::BatteryState |
| sensor_msgs/msg/CameraInfo | ignition::msgs::CameraInfo |
| sensor_msgs/msg/FluidPressure | ignition::msgs::FluidPressure |
| sensor_msgs/msg/Imu | ignition::msgs::IMU |
| sensor_msgs/msg/Image | ignition::msgs::Image |
| sensor_msgs/msg/JointState | ignition::msgs::Model |
| sensor_msgs/msg/LaserScan | ignition::msgs::LaserScan |
| sensor_msgs/msg/MagneticField | ignition::msgs::Magnetometer |
| sensor_msgs/msg/PointCloud2 | ignition::msgs::PointCloudPacked |
| tf2_msgs/msg/TFMessage | ignition::msgs::Pose_V |
| trajectory_msgs/msg/JointTrajectory | ignition::msgs::JointTrajectory |
| ROS type | Ignition Transport type |
|--------------------------------------|:--------------------------------------:|
| builtin_interfaces/msg/Time | ignition::msgs::Time |
| std_msgs/msg/Bool | ignition::msgs::Boolean |
| std_msgs/msg/ColorRGBA | ignition::msgs::Color |
| std_msgs/msg/Empty | ignition::msgs::Empty |
| std_msgs/msg/Float32 | ignition::msgs::Float |
| std_msgs/msg/Float64 | ignition::msgs::Double |
| std_msgs/msg/Header | ignition::msgs::Header |
| std_msgs/msg/Int32 | ignition::msgs::Int32 |
| std_msgs/msg/UInt32 | ignition::msgs::UInt32 |
| std_msgs/msg/String | ignition::msgs::StringMsg |
| geometry_msgs/msg/Wrench | ignition::msgs::Wrench |
| geometry_msgs/msg/Quaternion | ignition::msgs::Quaternion |
| geometry_msgs/msg/Vector3 | ignition::msgs::Vector3d |
| geometry_msgs/msg/Point | ignition::msgs::Vector3d |
| geometry_msgs/msg/Pose | ignition::msgs::Pose |
| geometry_msgs/msg/PoseWithCovariance | ignition::msgs::PoseWithCovariance |
| geometry_msgs/msg/PoseStamped | ignition::msgs::Pose |
| geometry_msgs/msg/Transform | ignition::msgs::Pose |
| geometry_msgs/msg/TransformStamped | ignition::msgs::Pose |
| geometry_msgs/msg/Twist | ignition::msgs::Twist |
| geometry_msgs/msg/TwistWithCovariance| ignition::msgs::TwistWithCovariance |
| mav_msgs/msg/Actuators (TODO) | ignition::msgs::Actuators (TODO) |
| nav_msgs/msg/Odometry | ignition::msgs::Odometry |
| nav_msgs/msg/Odometry | ignition::msgs::OdometryWithCovariance |
| ros_ign_interfaces/msg/Contact | ignition::msgs::Contact |
| ros_ign_interfaces/msg/Contacts | ignition::msgs::Contacts |
| ros_ign_interfaces/msg/Entity | ignition::msgs::Entity |
| ros_ign_interfaces/msg/GuiCamera | ignition::msgs::GUICamera |
| ros_ign_interfaces/msg/JointWrench | ignition::msgs::JointWrench |
| ros_ign_interfaces/msg/Light | ignition::msgs::Light |
| ros_ign_interfaces/msg/StringVec | ignition::msgs::StringMsg_V |
| ros_ign_interfaces/msg/TrackVisual | ignition::msgs::TrackVisual |
| ros_ign_interfaces/msg/VideoRecord | ignition::msgs::VideoRecord |
| ros_ign_interfaces/msg/WorldControl | ignition::msgs::WorldControl |
| rosgraph_msgs/msg/Clock | ignition::msgs::Clock |
| sensor_msgs/msg/BatteryState | ignition::msgs::BatteryState |
| sensor_msgs/msg/CameraInfo | ignition::msgs::CameraInfo |
| sensor_msgs/msg/FluidPressure | ignition::msgs::FluidPressure |
| sensor_msgs/msg/Imu | ignition::msgs::IMU |
| sensor_msgs/msg/Image | ignition::msgs::Image |
| sensor_msgs/msg/JointState | ignition::msgs::Model |
| sensor_msgs/msg/LaserScan | ignition::msgs::LaserScan |
| sensor_msgs/msg/MagneticField | ignition::msgs::Magnetometer |
| sensor_msgs/msg/PointCloud2 | ignition::msgs::PointCloudPacked |
| tf2_msgs/msg/TFMessage | ignition::msgs::Pose_V |
| trajectory_msgs/msg/JointTrajectory | ignition::msgs::JointTrajectory |

Run `ros2 run ros_ign_bridge parameter_bridge -h` for instructions.

Expand Down
28 changes: 28 additions & 0 deletions ros_ign_bridge/include/ros_ign_bridge/convert/geometry_msgs.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,17 +19,21 @@
#include <ignition/msgs/quaternion.pb.h>
#include <ignition/msgs/vector3d.pb.h>
#include <ignition/msgs/pose.pb.h>
#include <ignition/msgs/pose_with_covariance.pb.h>
#include <ignition/msgs/pose_v.pb.h>
#include <ignition/msgs/twist.pb.h>
#include <ignition/msgs/twist_with_covariance.pb.h>
#include <ignition/msgs/wrench.pb.h>

// ROS 2 messages
#include <geometry_msgs/msg/point.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/pose_with_covariance.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/quaternion.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <geometry_msgs/msg/twist.hpp>
#include <geometry_msgs/msg/twist_with_covariance.hpp>
#include <geometry_msgs/msg/wrench.hpp>

#include <ros_ign_bridge/convert_decl.hpp>
Expand Down Expand Up @@ -86,6 +90,18 @@ convert_ign_to_ros(
const ignition::msgs::Pose & ign_msg,
geometry_msgs::msg::Pose & ros_msg);

template<>
void
convert_ros_to_ign(
const geometry_msgs::msg::PoseWithCovariance & ros_msg,
ignition::msgs::PoseWithCovariance & ign_msg);

template<>
void
convert_ign_to_ros(
const ignition::msgs::PoseWithCovariance & ign_msg,
geometry_msgs::msg::PoseWithCovariance & ros_msg);

template<>
void
convert_ros_to_ign(
Expand Down Expand Up @@ -134,6 +150,18 @@ convert_ign_to_ros(
const ignition::msgs::Twist & ign_msg,
geometry_msgs::msg::Twist & ros_msg);

template<>
void
convert_ros_to_ign(
const geometry_msgs::msg::TwistWithCovariance & ros_msg,
ignition::msgs::TwistWithCovariance & ign_msg);

template<>
void
convert_ign_to_ros(
const ignition::msgs::TwistWithCovariance & ign_msg,
geometry_msgs::msg::TwistWithCovariance & ros_msg);

template<>
void
convert_ros_to_ign(
Expand Down
13 changes: 13 additions & 0 deletions ros_ign_bridge/include/ros_ign_bridge/convert/nav_msgs.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@

// Ignition messages
#include <ignition/msgs/odometry.pb.h>
#include <ignition/msgs/odometry_with_covariance.pb.h>

// ROS 2 messages
#include <nav_msgs/msg/odometry.hpp>
Expand All @@ -38,6 +39,18 @@ convert_ign_to_ros(
const ignition::msgs::Odometry & ign_msg,
nav_msgs::msg::Odometry & ros_msg);

template<>
void
convert_ros_to_ign(
const nav_msgs::msg::Odometry & ros_msg,
ignition::msgs::OdometryWithCovariance & ign_msg);

template<>
void
convert_ign_to_ros(
const ignition::msgs::OdometryWithCovariance & ign_msg,
nav_msgs::msg::Odometry & ros_msg);

} // namespace ros_ign_bridge

#endif // ROS_IGN_BRIDGE__CONVERT__NAV_MSGS_HPP_
60 changes: 60 additions & 0 deletions ros_ign_bridge/src/convert/geometry_msgs.cpp
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Expand Up @@ -106,6 +106,36 @@ convert_ign_to_ros(
convert_ign_to_ros(ign_msg.orientation(), ros_msg.orientation);
}

template<>
void
convert_ros_to_ign(
const geometry_msgs::msg::PoseWithCovariance & ros_msg,
ignition::msgs::PoseWithCovariance & ign_msg)
{
convert_ros_to_ign(ros_msg.pose.position, *ign_msg.mutable_pose()->mutable_position());
convert_ros_to_ign(ros_msg.pose.orientation, *ign_msg.mutable_pose()->mutable_orientation());
for (const auto & elem : ros_msg.covariance) {
ign_msg.mutable_covariance()->add_data(elem);
}
}

template<>
void
convert_ign_to_ros(
const ignition::msgs::PoseWithCovariance & ign_msg,
geometry_msgs::msg::PoseWithCovariance & ros_msg)
{
convert_ign_to_ros(ign_msg.pose().position(), ros_msg.pose.position);
convert_ign_to_ros(ign_msg.pose().orientation(), ros_msg.pose.orientation);
int data_size = ign_msg.covariance().data_size();
if (data_size == 36) {
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How likely is this going to be false? Seems less than ideal.

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@adityapande-1995 adityapande-1995 Mar 17, 2022 •
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I agree, this is not likely to be false, but I was still worried if this loop will segfault at runtime if the data array in ros_msg.covariance[ ] exceeds index. There is no explicit check on Float_V size.

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Is there a way to define the type such that it always has a size of 36?

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@adityapande-1995 adityapande-1995 Mar 17, 2022 •
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Maybe those are not supported by protobuf, used by ign-msgs : https://www.aapelivuorinen.com/blog/2019/07/12/protobuf-arrays/

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yeah I don't think protobuf supports fixed size arrays

we are on the verge of releasing the ign-msgs file into ign-msgs8. Does this approach seem reasonable to you?

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I think it's fine to keep this PR as-is. I was just curious if it was possible to avoid.

for (int i = 0; i < data_size; i++) {
auto data = ign_msg.covariance().data()[i];
ros_msg.covariance[i] = data;
}
}
}

template<>
void
convert_ros_to_ign(
Expand Down Expand Up @@ -197,6 +227,36 @@ convert_ign_to_ros(
convert_ign_to_ros(ign_msg.angular(), ros_msg.angular);
}

template<>
void
convert_ros_to_ign(
const geometry_msgs::msg::TwistWithCovariance & ros_msg,
ignition::msgs::TwistWithCovariance & ign_msg)
{
convert_ros_to_ign(ros_msg.twist.linear, (*ign_msg.mutable_twist()->mutable_linear()));
convert_ros_to_ign(ros_msg.twist.angular, (*ign_msg.mutable_twist()->mutable_angular()));
for (const auto & elem : ros_msg.covariance) {
ign_msg.mutable_covariance()->add_data(elem);
}
}

template<>
void
convert_ign_to_ros(
const ignition::msgs::TwistWithCovariance & ign_msg,
geometry_msgs::msg::TwistWithCovariance & ros_msg)
{
convert_ign_to_ros(ign_msg.twist().linear(), ros_msg.twist.linear);
convert_ign_to_ros(ign_msg.twist().angular(), ros_msg.twist.angular);
int data_size = ign_msg.covariance().data_size();
if (data_size == 36) {
for (int i = 0; i < data_size; i++) {
auto data = ign_msg.covariance().data()[i];
ros_msg.covariance[i] = data;
}
}
}

template<>
void
convert_ros_to_ign(
Expand Down
40 changes: 37 additions & 3 deletions ros_ign_bridge/src/convert/nav_msgs.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,9 +44,43 @@ convert_ign_to_ros(
convert_ign_to_ros(ign_msg.twist(), ros_msg.twist.twist);

for (auto i = 0; i < ign_msg.header().data_size(); ++i) {
auto aPair = ign_msg.header().data(i);
if (aPair.key() == "child_frame_id" && aPair.value_size() > 0) {
ros_msg.child_frame_id = frame_id_ign_to_ros(aPair.value(0));
auto a_pair = ign_msg.header().data(i);
if (a_pair.key() == "child_frame_id" && a_pair.value_size() > 0) {
ros_msg.child_frame_id = frame_id_ign_to_ros(a_pair.value(0));
break;
}
}
}

template<>
void
convert_ros_to_ign(
const nav_msgs::msg::Odometry & ros_msg,
ignition::msgs::OdometryWithCovariance & ign_msg)
{
convert_ros_to_ign(ros_msg.header, (*ign_msg.mutable_header()));
convert_ros_to_ign(ros_msg.pose, (*ign_msg.mutable_pose_with_covariance()));
convert_ros_to_ign(ros_msg.twist, (*ign_msg.mutable_twist_with_covariance()));

auto childFrame = ign_msg.mutable_header()->add_data();
childFrame->set_key("child_frame_id");
childFrame->add_value(ros_msg.child_frame_id);
}

template<>
void
convert_ign_to_ros(
const ignition::msgs::OdometryWithCovariance & ign_msg,
nav_msgs::msg::Odometry & ros_msg)
{
convert_ign_to_ros(ign_msg.header(), ros_msg.header);
convert_ign_to_ros(ign_msg.pose_with_covariance(), ros_msg.pose);
convert_ign_to_ros(ign_msg.twist_with_covariance(), ros_msg.twist);

for (auto i = 0; i < ign_msg.header().data_size(); ++i) {
auto a_pair = ign_msg.header().data(i);
if (a_pair.key() == "child_frame_id" && a_pair.value_size() > 0) {
ros_msg.child_frame_id = frame_id_ign_to_ros(a_pair.value(0));
break;
}
}
Expand Down
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