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Mecanum Drive: Populate the pose covariance matrix #1772

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Merged
merged 7 commits into from
Jul 7, 2025
Merged

Mecanum Drive: Populate the pose covariance matrix #1772

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f2f3462
Populate the pose covariance matrix
hilary-luo Jun 24, 2025
cd37d40
Merge branch 'master' into fix/mecanum-odom-covariance
christophfroehlich Jun 25, 2025
1916276
Merge branch 'master' into fix/mecanum-odom-covariance
hilary-luo Jul 2, 2025
683de49
Add test coverage for odom message covariances
hilary-luo Jul 3, 2025
5886501
Merge branch 'master' into fix/mecanum-odom-covariance
christophfroehlich Jul 3, 2025
b7ff624
Linting
hilary-luo Jul 4, 2025
45882a5
Merge branch 'master' into fix/mecanum-odom-covariance
christophfroehlich Jul 6, 2025
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7 changes: 4 additions & 3 deletions mecanum_drive_controller/src/mecanum_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -173,13 +173,14 @@ controller_interface::CallbackReturn MecanumDriveController::on_configure(
rt_odom_state_publisher_->msg_.child_frame_id = base_frame_id;
rt_odom_state_publisher_->msg_.pose.pose.position.z = 0;

auto & covariance = rt_odom_state_publisher_->msg_.twist.covariance;
auto & pose_covariance = rt_odom_state_publisher_->msg_.pose.covariance;
auto & twist_covariance = rt_odom_state_publisher_->msg_.twist.covariance;
constexpr size_t NUM_DIMENSIONS = 6;
for (size_t index = 0; index < 6; ++index)
{
const size_t diagonal_index = NUM_DIMENSIONS * index + index;
covariance[diagonal_index] = params_.pose_covariance_diagonal[index];
covariance[diagonal_index] = params_.twist_covariance_diagonal[index];
pose_covariance[diagonal_index] = params_.pose_covariance_diagonal[index];
twist_covariance[diagonal_index] = params_.twist_covariance_diagonal[index];
}
rt_odom_state_publisher_->unlock();

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2 changes: 1 addition & 1 deletion mecanum_drive_controller/test/mecanum_drive_controller_params.yaml
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Expand Up @@ -17,7 +17,7 @@
odom_frame_id: "odom"
enable_odom_tf: true
twist_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
pose_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
pose_covariance_diagonal: [0.0, 6.0, 12.0, 18.0, 24.0, 30.0]


test_mecanum_drive_controller_with_rotation:
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24 changes: 24 additions & 0 deletions mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
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Expand Up @@ -62,6 +62,11 @@ TEST_F(MecanumDriveControllerTest, when_controller_is_configured_expect_all_para
ASSERT_EQ(controller_->params_.kinematics.base_frame_offset.y, 0.0);
ASSERT_EQ(controller_->params_.kinematics.base_frame_offset.theta, 0.0);

ASSERT_EQ(controller_->params_.pose_covariance_diagonal,
std::vector<double>({0.0, 6.0, 12.0, 18.0, 24.0, 30.0}));
ASSERT_EQ(controller_->params_.twist_covariance_diagonal,
std::vector<double>({0.0, 7.0, 14.0, 21.0, 28.0, 35.0}));

ASSERT_EQ(
controller_->params_.front_left_wheel_command_joint_name, TEST_FRONT_LEFT_CMD_JOINT_NAME);
ASSERT_EQ(
Expand Down Expand Up @@ -140,6 +145,25 @@ TEST_F(MecanumDriveControllerTest, configure_succeeds_tf_test_prefix_false_no_na
/* tf_frame_prefix_enable is false so no modifications to the frame id's */
ASSERT_EQ(test_odom_frame_id, odom_id);
ASSERT_EQ(test_base_frame_id, base_link_id);

std::array<double, 36> pose_covariance = {{
0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 6.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 12.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 18.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 24.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 30.0}};

std::array<double, 36> twist_covariance = {{
0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 7.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 14.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 21.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 28.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 35.0}};

ASSERT_EQ(odometry_message.pose.covariance, pose_covariance);
ASSERT_EQ(odometry_message.twist.covariance, twist_covariance);
}

TEST_F(MecanumDriveControllerTest, configure_succeeds_tf_test_prefix_true_no_namespace)
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