Add DiffDriveOdometry pybind11 interface and examples#314
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Add DiffDriveOdometry pybind11 interface and examples#314
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Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
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@@ Coverage Diff @@
## ign-math6 #314 +/- ##
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Coverage 99.65% 99.65%
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Files 67 67
Lines 6364 6364
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Signed-off-by: Alejandro Hernández <ahcorde@gmail.com>
Signed-off-by: Louise Poubel <louise@openrobotics.org>
chapulina
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Dec 28, 2021
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chapulina
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I pushed some formatting for the examples in 7870ccd, now they both should have similar output:
C++
--- Rotate both wheels by 1 degree. ---
Linear velocity: 0.0872665 m/s
Odom linear velocity: 0.0872665 m/s
Angular velocity should be zero since the "robot" is traveling
in a straight line:
Odom angular velocity: 0 rad/s
--- This time rotate the right wheel by 1 degree. ---
The heading should be the arc tangent of the linear distance
traveled by the right wheel (the left wheel was stationary)
divided by the wheel separation.
Heading: 0.0043633 rad
Odom Heading: 0.00436332 rad
X distance traveled: 0.0218166 m
Odom X: 0.0218166 m
Y distance traveled: 9.51916e-06 m
Odom Y: 2.85578e-05 m
Angular velocity should be the difference between the x and y
distance traveled divided by the wheel separation divided by
the seconds elapsed.
Angular velocity: 0.0217688 rad/s
Odom angular velocity: 0.0218166 rad/s
Python:
--- Rotate both wheels by 1 degree. ---
Linear velocity: 0.08726646259971647 m/s
Odom linear velocity: 0.08726646259971647 m/s
Angular velocity should be zero since the "robot" is traveling
in a straight line:
Odom angular velocity: 0 rad/s
--- This time rotate the right wheel by 1 degree. ---
The heading should be the arc tangent of the linear distance
traveled by the right wheel (the left wheel was stationary)
divided by the wheel separation.
Heading: 0.004363295439797267 rad
Odom Heading: 0.00436332 rad
X distance traveled: 0.021816574114764897 m
Odom X: 0.021816574114211357 m
Y distance traveled: 9.519158445048248e-06 m
Odom Y: 2.855783779653898e-05 m
Angular velocity should be the difference between the x and y
distance traveled divided by the wheel separation divided by
the seconds elapsed.
Angular velocity: 0.02176881218188277 rad/s
Odom angular velocity: 0.0218166 rad/s
I just have one question left
Signed-off-by: Alejandro Hernández <ahcorde@gmail.com>
chapulina
approved these changes
Dec 28, 2021
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This pull request has been mentioned on Gazebo Community. There might be relevant details there: https://community.gazebosim.org/t/new-ignition-releases-2022-03-01-citadel-edifice-fortress/1313/1 |
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Signed-off-by: ahcorde ahcorde@gmail.com
🎉 New feature
Summary
This PR creates a DiffDriveOdometry Pybind11 interface and adds examples
Depends on
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