From a8e90c01ff2c25e90c205a7064c8e98ab1033f44 Mon Sep 17 00:00:00 2001 From: Franz Rammerstorfer <60260174+franzrammerstorfer@users.noreply.github.com> Date: Sat, 30 Dec 2023 21:25:35 +0100 Subject: [PATCH] Fix ackermann steering odometry (#921) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * fix Ackermann steering odometry bug issue #878 --------- Co-authored-by: Christoph Fröhlich (cherry picked from commit d915497394710481a98cbaf7b6db8ef9a368aa3e) --- steering_controllers_library/CMakeLists.txt | 3 + .../src/steering_odometry.cpp | 4 +- .../test/test_steering_odometry.cpp | 110 ++++++++++++++++++ 3 files changed, 115 insertions(+), 2 deletions(-) create mode 100644 steering_controllers_library/test/test_steering_odometry.cpp diff --git a/steering_controllers_library/CMakeLists.txt b/steering_controllers_library/CMakeLists.txt index b64ea204a8..63de42cf69 100644 --- a/steering_controllers_library/CMakeLists.txt +++ b/steering_controllers_library/CMakeLists.txt @@ -67,6 +67,9 @@ if(BUILD_TESTING) controller_interface hardware_interface ) + ament_add_gmock(test_steering_odometry test/test_steering_odometry.cpp) + target_link_libraries(test_steering_odometry steering_controllers_library) + endif() install( diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp index bf254bfcfa..e2ced036ff 100644 --- a/steering_controllers_library/src/steering_odometry.cpp +++ b/steering_controllers_library/src/steering_odometry.cpp @@ -270,8 +270,8 @@ std::tuple, std::vector> SteeringOdometry::get_comma double denominator_first_member = 2 * wheelbase_ * std::cos(alpha); double denominator_second_member = wheel_track_ * std::sin(alpha); - double alpha_r = std::atan2(numerator, denominator_first_member - denominator_second_member); - double alpha_l = std::atan2(numerator, denominator_first_member + denominator_second_member); + double alpha_r = std::atan2(numerator, denominator_first_member + denominator_second_member); + double alpha_l = std::atan2(numerator, denominator_first_member - denominator_second_member); steering_commands = {alpha_r, alpha_l}; } return std::make_tuple(traction_commands, steering_commands); diff --git a/steering_controllers_library/test/test_steering_odometry.cpp b/steering_controllers_library/test/test_steering_odometry.cpp new file mode 100644 index 0000000000..173c76baef --- /dev/null +++ b/steering_controllers_library/test/test_steering_odometry.cpp @@ -0,0 +1,110 @@ +// Copyright (c) 2023, Virtual Vehicle Research GmbH +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "gmock/gmock.h" + +#include "steering_controllers_library/steering_odometry.hpp" + +TEST(TestSteeringOdometry, initialize) +{ + EXPECT_NO_THROW(steering_odometry::SteeringOdometry()); + + steering_odometry::SteeringOdometry odom(1); + odom.set_wheel_params(1., 2., 3.); + odom.set_odometry_type(steering_odometry::ACKERMANN_CONFIG); + EXPECT_DOUBLE_EQ(odom.get_heading(), 0.); + EXPECT_DOUBLE_EQ(odom.get_x(), 0.); + EXPECT_DOUBLE_EQ(odom.get_y(), 0.); +} + +TEST(TestSteeringOdometry, ackermann_fwd_kin_linear) +{ + steering_odometry::SteeringOdometry odom(1); + odom.set_wheel_params(1., 2., 1.); + odom.set_odometry_type(steering_odometry::ACKERMANN_CONFIG); + odom.update_open_loop(2., 0., 0.5); + EXPECT_DOUBLE_EQ(odom.get_linear(), 2.); + EXPECT_DOUBLE_EQ(odom.get_x(), 1.); + EXPECT_DOUBLE_EQ(odom.get_y(), 0.); +} + +TEST(TestSteeringOdometry, ackermann_fwd_kin_angular_left) +{ + steering_odometry::SteeringOdometry odom(1); + odom.set_wheel_params(1., 2., 1.); + odom.set_odometry_type(steering_odometry::ACKERMANN_CONFIG); + odom.update_open_loop(1., 1., 1.); + EXPECT_DOUBLE_EQ(odom.get_linear(), 1.); + EXPECT_DOUBLE_EQ(odom.get_angular(), 1.); + + EXPECT_GT(odom.get_x(), 0); // pos x + EXPECT_GT(odom.get_y(), 0); // pos y, ie. left +} + +TEST(TestSteeringOdometry, ackermann_fwd_kin_angular_right) +{ + steering_odometry::SteeringOdometry odom(1); + odom.set_wheel_params(1., 2., 1.); + odom.set_odometry_type(steering_odometry::ACKERMANN_CONFIG); + odom.update_open_loop(1., -1., 1.); + EXPECT_DOUBLE_EQ(odom.get_linear(), 1.); + EXPECT_DOUBLE_EQ(odom.get_angular(), -1.); + EXPECT_GT(odom.get_x(), 0); // pos x + EXPECT_LT(odom.get_y(), 0); // neg y ie. right +} + +TEST(TestSteeringOdometry, ackermann_back_kin_linear) +{ + steering_odometry::SteeringOdometry odom(1); + odom.set_wheel_params(1., 2., 1.); + odom.set_odometry_type(steering_odometry::ACKERMANN_CONFIG); + odom.update_open_loop(1., 0., 1.); + auto cmd = odom.get_commands(1., 0.); + auto cmd0 = std::get<0>(cmd); // vel + EXPECT_EQ(cmd0[0], cmd0[1]); // linear + EXPECT_GT(cmd0[0], 0); + auto cmd1 = std::get<1>(cmd); // steer + EXPECT_EQ(cmd1[0], cmd1[1]); // no steering + EXPECT_EQ(cmd1[0], 0); +} + +TEST(TestSteeringOdometry, ackermann_back_kin_left) +{ + steering_odometry::SteeringOdometry odom(1); + odom.set_wheel_params(1., 2., 1.); + odom.set_odometry_type(steering_odometry::ACKERMANN_CONFIG); + odom.update_from_position(0., 0.2, 1.); // assume already turn + auto cmd = odom.get_commands(1., 0.1); + auto cmd0 = std::get<0>(cmd); // vel + EXPECT_GT(cmd0[0], cmd0[1]); // right (outer) > left (inner) + EXPECT_GT(cmd0[0], 0); + auto cmd1 = std::get<1>(cmd); // steer + EXPECT_LT(cmd1[0], cmd1[1]); // right (outer) < left (inner) + EXPECT_GT(cmd1[0], 0); +} + +TEST(TestSteeringOdometry, ackermann_back_kin_right) +{ + steering_odometry::SteeringOdometry odom(1); + odom.set_wheel_params(1., 2., 1.); + odom.set_odometry_type(steering_odometry::ACKERMANN_CONFIG); + odom.update_from_position(0., -0.2, 1.); // assume already turn + auto cmd = odom.get_commands(1., -0.1); + auto cmd0 = std::get<0>(cmd); // vel + EXPECT_LT(cmd0[0], cmd0[1]); // right (inner) < left outer) + EXPECT_GT(cmd0[0], 0); + auto cmd1 = std::get<1>(cmd); // steer + EXPECT_GT(std::abs(cmd1[0]), std::abs(cmd1[1])); // abs right (inner) > abs left (outer) + EXPECT_LT(cmd1[0], 0); +}