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113 changes: 113 additions & 0 deletions
113
...ple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp
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| // Copyright 2024 TIER IV, Inc. All rights reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
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| #ifndef SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__IMU_SENSOR_HPP_ | ||
| #define SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__IMU_SENSOR_HPP_ | ||
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| #include <simulation_api_schema.pb.h> | ||
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| #include <array> | ||
| #include <geometry_msgs/msg/accel.hpp> | ||
| #include <geometry_msgs/msg/twist.hpp> | ||
| #include <random> | ||
| #include <rclcpp/rclcpp.hpp> | ||
| #include <sensor_msgs/msg/imu.hpp> | ||
| #include <simulation_interface/conversions.hpp> | ||
| #include <traffic_simulator_msgs/msg/entity_status.hpp> | ||
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| namespace simple_sensor_simulator | ||
| { | ||
| class ImuSensorBase | ||
| { | ||
| public: | ||
| explicit ImuSensorBase(const simulation_api_schema::ImuSensorConfiguration & configuration) | ||
| : add_gravity_(configuration.add_gravity()), | ||
| noise_standard_deviation_orientation_(configuration.noise_standard_deviation_orientation()), | ||
| noise_standard_deviation_twist_(configuration.noise_standard_deviation_twist()), | ||
| noise_standard_deviation_acceleration_(configuration.noise_standard_deviation_acceleration()), | ||
| random_generator_(configuration.use_seed() ? configuration.seed() : std::random_device{}()), | ||
| noise_distribution_orientation_(0.0, noise_standard_deviation_orientation_), | ||
| noise_distribution_twist_(0.0, noise_standard_deviation_twist_), | ||
| noise_distribution_acceleration_(0.0, noise_standard_deviation_acceleration_), | ||
| orientation_covariance_(calculateCovariance(noise_standard_deviation_orientation_)), | ||
| angular_velocity_covariance_(calculateCovariance(noise_standard_deviation_twist_)), | ||
| linear_acceleration_covariance_(calculateCovariance(noise_standard_deviation_acceleration_)) | ||
| { | ||
| } | ||
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| virtual ~ImuSensorBase() = default; | ||
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| virtual auto update( | ||
| const rclcpp::Time & current_ros_time, | ||
| const std::vector<traffic_simulator_msgs::EntityStatus> & statuses) const -> bool = 0; | ||
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| protected: | ||
| const bool add_gravity_; | ||
| const double noise_standard_deviation_orientation_; | ||
| const double noise_standard_deviation_twist_; | ||
| const double noise_standard_deviation_acceleration_; | ||
| mutable std::mt19937 random_generator_; | ||
| mutable std::normal_distribution<> noise_distribution_orientation_; | ||
| mutable std::normal_distribution<> noise_distribution_twist_; | ||
| mutable std::normal_distribution<> noise_distribution_acceleration_; | ||
| const std::array<double, 9> orientation_covariance_; | ||
| const std::array<double, 9> angular_velocity_covariance_; | ||
| const std::array<double, 9> linear_acceleration_covariance_; | ||
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| auto calculateCovariance(const double stddev) const -> std::array<double, 9> | ||
| { | ||
| return {std::pow(stddev, 2), 0, 0, 0, std::pow(stddev, 2), 0, 0, 0, std::pow(stddev, 2)}; | ||
| }; | ||
| }; | ||
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| template <typename MessageType> | ||
| class ImuSensor : public ImuSensorBase | ||
| { | ||
| public: | ||
| explicit ImuSensor( | ||
| const simulation_api_schema::ImuSensorConfiguration & configuration, | ||
| const typename rclcpp::Publisher<MessageType>::SharedPtr & publisher) | ||
| : ImuSensorBase(configuration), | ||
| entity_name_(configuration.entity()), | ||
| frame_id_(configuration.frame_id()), | ||
| publisher_(publisher) | ||
| { | ||
| } | ||
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| auto update( | ||
| const rclcpp::Time & current_ros_time, | ||
| const std::vector<traffic_simulator_msgs::EntityStatus> & statuses) const -> bool override | ||
| { | ||
| for (const auto & status : statuses) { | ||
| if (status.name() == entity_name_) { | ||
| traffic_simulator_msgs::msg::EntityStatus status_msg; | ||
| simulation_interface::toMsg(status, status_msg); | ||
| publisher_->publish(generateMessage(current_ros_time, status_msg)); | ||
| return true; | ||
| } | ||
| } | ||
| return false; | ||
| } | ||
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| private: | ||
| auto generateMessage( | ||
| const rclcpp::Time & current_ros_time, | ||
| const traffic_simulator_msgs::msg::EntityStatus & status) const -> const MessageType; | ||
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| const std::string entity_name_; | ||
| const std::string frame_id_; | ||
| const typename rclcpp::Publisher<MessageType>::SharedPtr publisher_; | ||
| }; | ||
| } // namespace simple_sensor_simulator | ||
| #endif // SIMPLE_SENSOR_SIMULATOR__SENSOR_SIMULATION__IMU_SENSOR_HPP_ |
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90 changes: 90 additions & 0 deletions
90
simulation/simple_sensor_simulator/src/sensor_simulation/imu/imu_sensor.cpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,90 @@ | ||
| // Copyright 2024 TIER IV, Inc. All rights reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #include <tf2/LinearMath/Matrix3x3.h> | ||
| #include <tf2/LinearMath/Quaternion.h> | ||
| #include <tf2/LinearMath/Transform.h> | ||
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| #include <algorithm> | ||
| #include <geometry/quaternion/euler_to_quaternion.hpp> | ||
| #include <geometry/quaternion/quaternion_to_euler.hpp> | ||
| #include <simple_sensor_simulator/sensor_simulation/imu/imu_sensor.hpp> | ||
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| namespace simple_sensor_simulator | ||
| { | ||
| template <> | ||
| auto ImuSensor<sensor_msgs::msg::Imu>::generateMessage( | ||
| const rclcpp::Time & current_ros_time, | ||
| const traffic_simulator_msgs::msg::EntityStatus & status) const -> const sensor_msgs::msg::Imu | ||
| { | ||
| const auto applyNoise = | ||
| [&](geometry_msgs::msg::Vector3 & v, std::normal_distribution<> & distribution) { | ||
| v.x += distribution(random_generator_); | ||
| v.y += distribution(random_generator_); | ||
| v.z += distribution(random_generator_); | ||
| }; | ||
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| auto imu_msg = sensor_msgs::msg::Imu(); | ||
| imu_msg.header.stamp = current_ros_time; | ||
| imu_msg.header.frame_id = frame_id_; | ||
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| auto orientation_rpy = math::geometry::convertQuaternionToEulerAngle(status.pose.orientation); | ||
| auto twist = status.action_status.twist; | ||
| auto accel = status.action_status.accel; | ||
|
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| // Apply noise | ||
| if (noise_standard_deviation_orientation_ > 0.0) { | ||
| applyNoise(orientation_rpy, noise_distribution_orientation_); | ||
| } | ||
| if (noise_standard_deviation_twist_ > 0.0) { | ||
| applyNoise(twist.angular, noise_distribution_twist_); | ||
| } | ||
| if (noise_standard_deviation_acceleration_ > 0.0) { | ||
| applyNoise(accel.linear, noise_distribution_acceleration_); | ||
| } | ||
|
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| // Apply gravity | ||
| if (add_gravity_) { | ||
| tf2::Quaternion orientation_quaternion; | ||
| orientation_quaternion.setRPY(orientation_rpy.x, orientation_rpy.y, orientation_rpy.z); | ||
| tf2::Matrix3x3 rotation_matrix(orientation_quaternion); | ||
| tf2::Vector3 gravity(0.0, 0.0, -9.81); | ||
| tf2::Vector3 transformed_gravity = rotation_matrix * gravity; | ||
| accel.linear.x += transformed_gravity.x(); | ||
| accel.linear.y += transformed_gravity.y(); | ||
| accel.linear.z += transformed_gravity.z(); | ||
| } | ||
|
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| // Set data | ||
| imu_msg.orientation = math::geometry::convertEulerAngleToQuaternion(orientation_rpy); | ||
| imu_msg.angular_velocity.x = twist.angular.x; | ||
| imu_msg.angular_velocity.y = twist.angular.y; | ||
| imu_msg.angular_velocity.z = twist.angular.z; | ||
| imu_msg.linear_acceleration.x = accel.linear.x; | ||
| imu_msg.linear_acceleration.y = accel.linear.y; | ||
| imu_msg.linear_acceleration.z = accel.linear.z; | ||
|
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| // Set covariance | ||
| std::copy( | ||
| orientation_covariance_.begin(), orientation_covariance_.end(), | ||
| imu_msg.orientation_covariance.data()); | ||
| std::copy( | ||
| angular_velocity_covariance_.begin(), angular_velocity_covariance_.end(), | ||
| imu_msg.angular_velocity_covariance.data()); | ||
| std::copy( | ||
| linear_acceleration_covariance_.begin(), linear_acceleration_covariance_.end(), | ||
| imu_msg.linear_acceleration_covariance.data()); | ||
| return imu_msg; | ||
| } | ||
| } // namespace simple_sensor_simulator |
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