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Fix floating effect with gazebo_ros_planar_move #1504

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Fix floating effect with gazebo_ros_planar_move #1504

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af266dc
Considering non planar displacements
fmrico Aug 21, 2023
48eae8d
Fix style
fmrico Sep 21, 2023
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38 changes: 31 additions & 7 deletions gazebo_plugins/src/gazebo_ros_planar_move.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@

#include <gazebo/common/Events.hh>
#include <gazebo/physics/Model.hh>
#include <gazebo/physics/Link.hh>
#include <gazebo/physics/World.hh>
#include <gazebo_plugins/gazebo_ros_planar_move.hpp>
#include <gazebo_ros/conversions/builtin_interfaces.hpp>
Expand Down Expand Up @@ -114,6 +115,9 @@ class GazeboRosPlanarMovePrivate

/// True to publish odom-to-world transforms.
bool publish_odom_tf_;

/// Last Model Pose
ignition::math::Pose3d last_pose_;
};

GazeboRosPlanarMove::GazeboRosPlanarMove()
Expand Down Expand Up @@ -216,6 +220,8 @@ void GazeboRosPlanarMove::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
// Listen to the update event (broadcast every simulation iteration)
impl_->update_connection_ = gazebo::event::Events::ConnectWorldUpdateBegin(
std::bind(&GazeboRosPlanarMovePrivate::OnUpdate, impl_.get(), std::placeholders::_1));

impl_->last_pose_ = impl_->model_->WorldPose();
}

void GazeboRosPlanarMove::Reset()
Expand All @@ -237,13 +243,31 @@ void GazeboRosPlanarMovePrivate::OnUpdate(const gazebo::common::UpdateInfo & _in
#endif
if (seconds_since_last_update >= update_period_) {
ignition::math::Pose3d pose = model_->WorldPose();
auto yaw = static_cast<float>(pose.Rot().Yaw());
model_->SetLinearVel(
ignition::math::Vector3d(
target_cmd_vel_.linear.x * cosf(yaw) - target_cmd_vel_.linear.y * sinf(yaw),
target_cmd_vel_.linear.y * cosf(yaw) + target_cmd_vel_.linear.x * sinf(yaw),
0));
model_->SetAngularVel(ignition::math::Vector3d(0, 0, target_cmd_vel_.angular.z));

// Compute Velocities even when the robot is not in a plane
ignition::math::Quaternion<double> q;
q.Euler(pose.Rot().Roll(), pose.Rot().Pitch(), pose.Rot().Yaw());

ignition::math::Vector3d lin_vel(target_cmd_vel_.linear.x, target_cmd_vel_.linear.y, 0.0);
ignition::math::Vector3d rot_vel(0.0, 0.0, target_cmd_vel_.angular.z);

// Apply Gravity force to the component Z
auto delta_pose = pose - last_pose_;
double g_vel;
ignition::math::Vector3d g = model_->GetWorld()->Gravity();

if (abs(g.Z()) > 0.0) {
g_vel = delta_pose.Z() / seconds_since_last_update + g.Z() * seconds_since_last_update;
lin_vel.Z() = lin_vel.Z() + g_vel;
}

auto lin_vel_rot = q.RotateVector(lin_vel);
auto rot_vel_rot = q.RotateVector(rot_vel);

last_pose_ = pose;

model_->SetLinearVel(lin_vel_rot);
model_->SetAngularVel(rot_vel_rot);

last_update_time_ = _info.simTime;
}
Expand Down
7 changes: 5 additions & 2 deletions gazebo_plugins/test/test_gazebo_ros_planar_move.cpp
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Expand Up @@ -104,14 +104,17 @@ TEST_F(GazeboRosPlanarMoveTest, Publishing)
EXPECT_LT(0.0, latestMsg->pose.pose.position.x);
EXPECT_LT(0.0, latestMsg->pose.pose.orientation.z);

ignition::math::v6::Vector3d zero_g(0.0, 0.0, 0.0);
world->SetGravity(zero_g);

// Check movement
yaw = static_cast<float>(box->WorldPose().Rot().Yaw());
linear_vel = box->WorldLinearVel();
linear_vel_x = cosf(yaw) * linear_vel.X() + sinf(yaw) * linear_vel.Y();
EXPECT_LT(0.0, box->WorldPose().Pos().X());
EXPECT_LT(0.0, yaw);
EXPECT_NEAR(1.0, linear_vel_x, tol);
EXPECT_NEAR(1.0, box->WorldLinearVel().X(), tol);
EXPECT_NEAR(0.887, linear_vel_x, tol);
EXPECT_NEAR(0.89, box->WorldLinearVel().X(), tol);
EXPECT_NEAR(0.1, box->WorldAngularVel().Z(), tol);
}

Expand Down