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Add local global conversion #29

Merged
merged 5 commits into from
Feb 26, 2024
Merged

Add local global conversion #29

merged 5 commits into from
Feb 26, 2024

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GuillaumeLaine
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@GuillaumeLaine GuillaumeLaine commented Feb 16, 2024 •
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  • Geodesic operation and conversion utils (mostly PX4 implementation)
    • Map projection class split as MapProjectionImpl and MapProjection. The former handles the math, the latter is user facing and handles the ROS subscription to get the reference position from PX4
  • Adds goto global setpoint type: projects the provided global position to the local frame, and calls the (local) goto setpoint type
  • Example global goto mode: mimics (local) goto example behavior, but in global coordinates.

@GuillaumeLaine GuillaumeLaine force-pushed the local_global_conversion branch from d007ca1 to b4b2b24 Compare February 16, 2024 15:05
@GuillaumeLaine GuillaumeLaine changed the title Local global conversion Add local global conversion Feb 16, 2024
@GuillaumeLaine GuillaumeLaine force-pushed the local_global_conversion branch from b4b2b24 to 1f4bb06 Compare February 16, 2024 15:41
@GuillaumeLaine GuillaumeLaine removed the request for review from tstastny February 16, 2024 15:42
bkueng
bkueng reviewed Feb 21, 2024
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@bkueng bkueng left a comment

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Nice, looks very clean.
Potentially add some unit tests for the geodesic methods.

px4_ros2_cpp/include/px4_ros2/utils/geodesic.hpp Outdated Show resolved Hide resolved
px4_ros2_cpp/include/px4_ros2/utils/geodesic.hpp Outdated Show resolved Hide resolved
px4_ros2_cpp/src/utils/geodesic.cpp Outdated Show resolved Hide resolved
px4_ros2_cpp/src/utils/geodesic.cpp Outdated Show resolved Hide resolved
px4_ros2_cpp/src/utils/geodesic.cpp Outdated Show resolved Hide resolved
px4_ros2_cpp/include/px4_ros2/control/setpoint_types/goto.hpp Outdated Show resolved Hide resolved
px4_ros2_cpp/src/control/setpoint_types/goto.cpp Outdated Show resolved Hide resolved
examples/cpp/modes/goto_global/include/mode.hpp Show resolved Hide resolved
examples/cpp/modes/goto_global/include/mode.hpp Show resolved Hide resolved
@GuillaumeLaine GuillaumeLaine force-pushed the local_global_conversion branch from 81b1b92 to 3d82ec1 Compare February 21, 2024 17:27
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Thanks for the review, I'm done applying your suggestions for this PR. I'll open separate PRs for the suggestions that weren't directly related to this PR:

  • Odometry class for attitude
  • Node with Mode class
  • Callback for ekf resets in the MapProjection class

@GuillaumeLaine GuillaumeLaine merged commit 3f3ff64 into main Feb 26, 2024
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@GuillaumeLaine GuillaumeLaine deleted the local_global_conversion branch February 26, 2024 08:06
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@bkueng bkueng bkueng approved these changes

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@GuillaumeLaine @bkueng