fix(pose2twist): compute angular velocity through quaternion #7322
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Signed-off-by: Kento Yabuuchi <[email protected]>
Signed-off-by: Kento Yabuuchi <[email protected]>
Signed-off-by: Kento Yabuuchi <[email protected]>
Signed-off-by: Kento Yabuuchi <[email protected]>
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Signed-off-by: Kento Yabuuchi <[email protected]>
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* compute angular velocity from two quaternions Signed-off-by: Kento Yabuuchi <[email protected]> * add test Signed-off-by: Kento Yabuuchi <[email protected]> * add some comments Signed-off-by: Kento Yabuuchi <[email protected]> * remove rpy description Signed-off-by: Kento Yabuuchi <[email protected]> * fix typo Signed-off-by: Kento Yabuuchi <[email protected]> * fix clang-tidy's warning Signed-off-by: Kento Yabuuchi <[email protected]> --------- Signed-off-by: Kento Yabuuchi <[email protected]>
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Description
I have modified the method for obtaining angular velocity from pose.
In the previous approach, incorrect values could be obtained when pitch or yaw were not zero.
Additionally, I have added tests to verify the correctness of my implementation.
Tests performed
logging_simualtor.launch.xml & pose2twist.launch.xml
I have confirmed that twist is being output by launching logging_simulator and pose_twist.launch.
Furthermore, I have verified that the estimated angular velocity does not differ from the previous method.
(Since roll and pitch are sufficiently small in the sample rosbag, the previous method also estimate the correct angular velocity.)
Execute gtest
gtest has been passed.
colcon test --event-handlers console_cohesion+ summary+ --packages-select pose2twistEffects on system behavior
Not applicable.
Interface changes
Interface does not change.
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