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Bugfix/imu angle #13

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Merged
yjHuang251 merged 4 commits into from
Feb 8, 2026
Merged

Bugfix/imu angle #13

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8c17a95
Fix: double time = seconds + nanoseconds -> nanoseconds
1000lai Feb 6, 2026
7cad5f9
Fix: prevent repeated wheel delta integration in imu callback
1000lai Feb 6, 2026
4be3368
Fix: delete unused things
1000lai Feb 6, 2026
b6a1d02
Merge branch 'develop' into bugfix/imu-angle
yjHuang251 Feb 8, 2026
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8 changes: 4 additions & 4 deletions devel/core_algorithm/fusion/src/fusion_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -130,7 +130,7 @@ void FusionNode::initCallback(const geometry_msgs::msg::PoseWithCovariance & ini
void FusionNode::localCallback(const nav_msgs::msg::Odometry & local_msg){
rclcpp::Time stamp = local_msg.header.stamp;

this->prev_pred_time = stamp.seconds()+stamp.nanoseconds()*1e-9;
this->prev_pred_time = stamp.nanoseconds()*1e-9;

Eigen::Vector3d local_pose;
double local_yaw = utils::qua2yaw(local_msg.pose.pose.orientation);
Expand Down Expand Up @@ -177,7 +177,7 @@ void FusionNode::globalCallback(const geometry_msgs::msg::PoseWithCovarianceStam
if(if_align){
rclcpp::Clock clock;
rclcpp::Time stamp = clock.now();
double corr_time = stamp.seconds()+stamp.nanoseconds()*1e-9;
double corr_time = stamp.nanoseconds()*1e-9;
double dt_align = corr_time-this->prev_pred_time;

if(dt_align<this->max_dt_align && dt_align>this->min_dt_align)
Expand Down Expand Up @@ -232,7 +232,7 @@ void FusionNode::cbCameraCallback(const geometry_msgs::msg::PoseStamped & cbcam_
if(if_align){
rclcpp::Clock clock;
rclcpp::Time stamp = clock.now();
double corr_time = stamp.seconds()+stamp.nanoseconds()*1e-9;
double corr_time = stamp.nanoseconds()*1e-9;
double dt_align = corr_time-this->prev_pred_time;

if(dt_align<this->max_dt_align && dt_align>this->min_dt_align)
Expand Down Expand Up @@ -287,7 +287,7 @@ void FusionNode::obCameraCallback(const geometry_msgs::msg::PoseStamped & obcam_
if(if_align){
rclcpp::Clock clock;
rclcpp::Time stamp = clock.now();
double corr_time = stamp.seconds()+stamp.nanoseconds()*1e-9;
double corr_time = stamp.nanoseconds()*1e-9;
double dt_align = corr_time-this->prev_pred_time;

if(dt_align<this->max_dt_align && dt_align>this->min_dt_align)
Expand Down
2 changes: 0 additions & 2 deletions ...core_algorithm/local/wheel_inertial_odometry/include/wheel_inertial_odometry/wio_node.hpp
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Expand Up @@ -31,8 +31,6 @@ class WioNode : public rclcpp::Node{
std::string robot_parent_frame;
std::string robot_frame;

Eigen::Vector3d prev_wheel_pose;
Eigen::Vector3d d_position;
Eigen::Vector3d local_pose;
Eigen::Vector3d local_twist;
Eigen::Matrix3d local_pose_cov;
Expand Down
21 changes: 5 additions & 16 deletions devel/core_algorithm/local/wheel_inertial_odometry/src/wio_node.cpp
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Expand Up @@ -15,8 +15,6 @@ WioNode::WioNode() : Node("wio_node"){
for(int i=0; i<3; i++) this->pose_cov_min[i] = 0;
this->first_odom_cb = true;
this->prev_odom_time = 0.0;
this->prev_wheel_pose.setZero();
this->d_position.setZero();
this->local_pose.setZero();
this->local_twist.setZero();
this->local_pose_cov.setIdentity();
Expand Down Expand Up @@ -77,11 +75,10 @@ void WioNode::wheelCallback(const geometry_msgs::msg::Twist & wheel_msg)
{
rclcpp::Clock clock;
rclcpp::Time stamp = clock.now();
double odom_time = stamp.seconds() + stamp.nanoseconds() * 1e-9;

double odom_time = stamp.nanoseconds() * 1e-9;
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@yjHuang251 yjHuang251 Feb 8, 2026

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it's in wheel callback so actually the variable name should be wheel_time

if (this->first_odom_cb)
{
this->prev_wheel_pose << wheel_msg.angular.x, wheel_msg.angular.y, 0.0;
this->prev_odom_time = odom_time;
this->first_odom_cb = false;
return;
Expand All @@ -90,13 +87,6 @@ void WioNode::wheelCallback(const geometry_msgs::msg::Twist & wheel_msg)
double dt = odom_time - this->prev_odom_time;
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@yjHuang251 yjHuang251 Feb 8, 2026

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also replace all the variables from odom to wheel. the reason is that odometry is a method which calculates relative pose tracking and is not limited to wheel information.

this->prev_odom_time = odom_time;


this->d_position << wheel_msg.angular.x-this->prev_wheel_pose(0),
wheel_msg.angular.y-this->prev_wheel_pose(1),
0.0;

this->prev_wheel_pose << wheel_msg.angular.x, wheel_msg.angular.y, 0.0;

this->local_twist(0) = wheel_msg.linear.x;
this->local_twist(1) = wheel_msg.linear.y;

Expand All @@ -115,7 +105,7 @@ void WioNode::wheelCallback(const geometry_msgs::msg::Twist & wheel_msg)
void WioNode::imuCallback(const sensor_msgs::msg::Imu & imu_msg)
{
rclcpp::Time stamp = imu_msg.header.stamp;
double time = stamp.seconds()+stamp.nanoseconds()*1e-9;
double time = stamp.nanoseconds()*1e-9;

if(this->first_imu_cb){
this->prev_imu_time = time;
Expand All @@ -126,18 +116,17 @@ void WioNode::imuCallback(const sensor_msgs::msg::Imu & imu_msg)
double dt = time-this->prev_imu_time;
this->prev_imu_time = time;


this->local_twist(2) = imu_msg.angular_velocity.z;

this->local_pose(2) =
utils::angleNormalizing(this->local_pose(2)+0.5*this->local_twist(2)*dt);
utils::angleNormalizing(this->local_pose(2)+this->local_twist(2)*dt);

Eigen::Matrix3d R;
R << cos(this->local_pose(2)), -sin(this->local_pose(2)), 0.0,
sin(this->local_pose(2)), cos(this->local_pose(2)), 0.0,
0.0, 0.0, 0.0;

this->local_pose += R*this->d_position;
this->local_pose += R*this->local_twist*dt;

// publish odometry
pubLocalPose(stamp);
Expand Down