Odometry with better contact model#860
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MegaIng
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May 23, 2026
| motion_odometry::ParamListener param_listener_; | ||
| motion_odometry::Params config_; | ||
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| // Returns {contact_corner_frame, sole_frame} of the foot with the lowest corner in IMU world space. |
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This comment is not accurate, lowest corner for both foots are returned right now.
| return {lowest_corner_l, lowest_corner_r, support_state}; | ||
| } | ||
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| tf2::Transform MotionOdometry::getFootContactModelResult(const rclcpp::Time& time, |
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Since the time parameter is currently being ignored, it should not be part of the signature. Alternatively keep the parameter, use it and set it to 0 externally with explanation.
| tf_buffer_.lookupTransform(imu_frame_, base_link_frame_, rclcpp::Time(0)); | ||
| fromMsg(imu_mounting_transform.transform, imu_mounting_offset); | ||
| } catch (tf2::TransformException& ex) { | ||
| RCLCPP_ERROR(this->get_logger(), "Not able to fuse IMU data with odometry due to a tf problem: %s", ex.what()); |
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Why is this error state specifically protected? Also, isn't this an essentially static lookup that just depends on the URDF? Under what conditions might this fail?
| odom_to_base_link_ = odom_to_rotation_point * rotation_point_in_base_link.inverse(); | ||
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| // Just to be sure, we set the rotation to the current imu orientation | ||
| odom_to_base_link_.setRotation(imu_orientation_in_base_link); |
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Am I reading this correctly that we always use the IMU rotation and trust it without any input from the odometry? Not necessarily bad, just want to make sure.
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Summary
Reworking the odometry from scratch to include a better phase detection, detailed foot contact modeling and fused imu data.
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Checklist
pixi run build