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Ported DuckieDrone UKF 2D and 7D #133

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Ported DuckieDrone UKF 2D and 7D #133

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Ported DuckieDrone UKF 2D and 7D
Tuxliri Sep 30, 2024
508b3b0
Refactor OpticalFlowNode to publish TwistStamped instead of Odometry
Tuxliri Sep 30, 2024
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15 changes: 7 additions & 8 deletions packages/robots/duckiedrone/optical_flow/src/optical_flow_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,8 @@
from duckietown.dtros import DTParam, DTROS, NodeType, ParamType
from duckietown_msgs.msg import Segment, SegmentList
from geometry_msgs.msg import Point as PointMsg
from geometry_msgs.msg import TwistStamped

from nav_msgs.msg import Odometry
from sensor_msgs.msg import CompressedImage, Range
from opencv_apps.msg import FlowArrayStamped, Flow

Expand Down Expand Up @@ -59,7 +59,7 @@ def __init__(self, node_name):
self.pub_debug_image = rospy.Publisher(
"~debug/image/compressed", CompressedImage, queue_size=1
)
self.pub_odometry = rospy.Publisher("~visual_odometry", Odometry, queue_size=1)
self.pub_odometry = rospy.Publisher("~visual_odometry", TwistStamped, queue_size=1)
self.pub_motion_vectors = rospy.Publisher(
"~lineseglist_out", SegmentList, queue_size=1
)
Expand Down Expand Up @@ -161,15 +161,14 @@ def cb_projected_motion_vectors(self, msg: SegmentList):
self.logdebug(f"Computed velocity vector [m/s]: {velocity}")

# Publish the optical flow vector as odometry
odometry_msg = Odometry()
odometry_msg.header.stamp = now
velocity_msg = TwistStamped()
velocity_msg.header.stamp = now

# TODO: change this to the correct frame
odometry_msg.child_frame_id = "base_link"
odometry_msg.twist.twist.linear.x = velocity[0]
odometry_msg.twist.twist.linear.y = velocity[1]
velocity_msg.twist.linear.x = velocity[0]
velocity_msg.twist.linear.y = velocity[1]

self.pub_odometry.publish(odometry_msg)
self.pub_odometry.publish(velocity_msg)

# self.last_stamp = now

Expand Down
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