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Prevent negative sec and nano in TimeToROSStamp when time is large #11

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merged 2 commits into from
Oct 23, 2024
Merged

Prevent negative sec and nano in TimeToROSStamp when time is large #11

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aac0034
Prevent negative sec and nano in TimeToROSStamp when time is large,
Oct 22, 2024
febfe6c
Wrap standard ROS functions into small lambdas for readability
tizianoGuadagnino Oct 23, 2024
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30 changes: 11 additions & 19 deletions ros/src/kinematic_icp_ros/server/LidarOdometryServer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@
#include "kinematic_icp_ros/utils/RosUtils.hpp"

// ROS 2 headers
#include <tf2/time.h>
#include <rcl/time.h>
#include <tf2_ros/buffer_interface.h>
#include <tf2_ros/transform_broadcaster.h>

Expand All @@ -54,19 +54,6 @@ namespace {
using milliseconds = std::chrono::milliseconds;
using seconds = std::chrono::duration<long double>;
using std::chrono::duration_cast;

// Convert to ros time
auto TimeToROSStamp(const double &time) {
builtin_interfaces::msg::Time stamp;
stamp.sec = static_cast<int32_t>(std::floor(time));
stamp.nanosec = static_cast<uint32_t>((time - stamp.sec) * 1e9);
return stamp;
};
double ROSStampToTime(const builtin_interfaces::msg::Time stamp) {
double time = static_cast<double>(stamp.sec);
time += static_cast<double>(stamp.nanosec) * 1e-9;
return time;
};
} // namespace

namespace kinematic_icp_ros {
Expand Down Expand Up @@ -197,11 +184,13 @@ void LidarOdometryServer::RegisterFrame(const sensor_msgs::msg::PointCloud2::Con
// Extract timestamps
const auto timestamps = GetTimestamps(msg);
const auto &[min_it, max_it] = std::minmax_element(timestamps.cbegin(), timestamps.cend());
// From double to ROS TimeStamp
auto toStamp = [](const double &time) -> builtin_interfaces::msg::Time {
return rclcpp::Time(tf2::durationFromSec(time).count());
};
// Update what is the current stamp of this iteration
const auto begin_scan_stamp =
min_it != timestamps.cend() ? TimeToROSStamp(*min_it) : last_stamp;
const auto end_scan_stamp =
max_it != timestamps.cend() ? TimeToROSStamp(*max_it) : msg->header.stamp;
const auto begin_scan_stamp = min_it != timestamps.cend() ? toStamp(*min_it) : last_stamp;
const auto end_scan_stamp = max_it != timestamps.cend() ? toStamp(*max_it) : msg->header.stamp;
current_stamp_ = end_scan_stamp;
// Get the initial guess from the wheel odometry
const auto delta =
Expand All @@ -218,8 +207,11 @@ void LidarOdometryServer::RegisterFrame(const sensor_msgs::msg::PointCloud2::Con
PublishClouds(frame, kpoints);
}

auto toTime = [](const builtin_interfaces::msg::Time &stamp) -> double {
return rclcpp::Time(stamp).nanoseconds() * 1e-9;
};
// Compute velocities, use the elapsed time between the current msg and the last received
const double elapsed_time = ROSStampToTime(end_scan_stamp) - ROSStampToTime(begin_scan_stamp);
const double elapsed_time = toTime(current_stamp_) - toTime(last_stamp);
const Sophus::SE3d::Tangent delta_twist = (last_pose.inverse() * kinematic_icp_->pose()).log();
const Sophus::SE3d::Tangent velocity = delta_twist / elapsed_time;

Expand Down
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