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Fixed redeclaration of ros params variables. Now the params in the la… #1

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e3104a9
Fixed redeclaration of ros params variables. Now the params in the la…
May 4, 2025
bc32530
Appending base_link to tf names
May 4, 2025
e4bbd22
Fixed odom velocities not in body frame
Aug 13, 2025
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4 changes: 2 additions & 2 deletions mocap_base/src/MoCapDriverBase.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -122,8 +122,8 @@ void Subject::processNewMeasurement(
}

// Transform matrix from parent to child frame
Isometry3d tf_parent2child = Isometry3d(Translation3d(m_position) * m_attitude);

Isometry3d tf_child2parent = Isometry3d(Translation3d(m_position) * m_attitude);
Isometry3d tf_parent2child = tf_child2parent.inverse();
status = TRACKED;
// Perfrom the kalman filter

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18 changes: 6 additions & 12 deletions mocap_qualisys/src/QualisysDriver.cpp
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Expand Up @@ -46,26 +46,18 @@ bool QualisysDriver::init() {
nh->declare_parameter("udp_port", -1);
nh->declare_parameter("qtm_protocol_version", 18);


std::string server_address;
nh->get_parameter_or("server_address", server_address, string(""));
int base_port;
nh->get_parameter_or("server_base_port", base_port, 22222);
vector<string> model_list;
nh->get_parameter_or("model_list", model_list, vector<string>(0));
int unsigned_frame_rate;
nh->get_parameter_or("frame_rate", unsigned_frame_rate, 0);
unsigned int frame_rate = unsigned_frame_rate > 0 ? unsigned_frame_rate : 0;
frame_rate = unsigned_frame_rate > 0 ? unsigned_frame_rate : 0;

double max_accel;
nh->get_parameter_or("max_accel", max_accel, 10.0);
bool publish_tf;
nh->get_parameter_or("publish_tf", publish_tf, false);
std::string fixed_frame_id;
nh->get_parameter_or("fixed_frame_id", fixed_frame_id, string("mocap"));
int int_udp_port;
nh->get_parameter_or("udp_port", int_udp_port, -1);
int qtm_protocol_version;
nh->get_parameter_or("qtm_protocol_version", qtm_protocol_version, 18);

if (server_address.empty()){
Expand Down Expand Up @@ -201,6 +193,7 @@ bool QualisysDriver::run() {
}

void QualisysDriver::handleFrame() {

// Number of rigid bodies
int body_count = prt_packet->Get6DOFBodyCount();
// Compute the timestamp
Expand Down Expand Up @@ -240,6 +233,7 @@ void QualisysDriver::handleFrame() {
}

void QualisysDriver::handleSubject(int sub_idx) {

// Name of the subject
string subject_name(port_protocol.Get6DOFBodyName(sub_idx));
// Pose of the subject
Expand Down Expand Up @@ -284,7 +278,6 @@ void QualisysDriver::handleSubject(int sub_idx) {
// Publish tf if requred
if (publish_tf &&
subjects.at(subject_name)->getStatus() == Subject::TRACKED) {

Quaterniond att = subjects.at(subject_name)->getAttitude();
Vector3d pos = subjects.at(subject_name)->getPosition();
// tf2::Quaternion att_tf;
Expand All @@ -304,9 +297,10 @@ void QualisysDriver::handleSubject(int sub_idx) {


geometry_msgs::msg::TransformStamped stamped_transform;
stamped_transform.header.stamp = rclcpp::Time(time);
// stamped_transform.header.stamp = rclcpp::Time(time);
stamped_transform.header.stamp = rclcpp::Clock().now();
stamped_transform.header.frame_id = fixed_frame_id;
stamped_transform.child_frame_id = subject_name;
stamped_transform.child_frame_id = subject_name + "/" + "base_link";

stamped_transform.transform.translation.x = pos.x();
stamped_transform.transform.translation.y = pos.y();
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2 changes: 1 addition & 1 deletion mocap_qualisys/src/qualisys.cpp
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Expand Up @@ -22,7 +22,7 @@
int main(int argc, char *argv[]) {

rclcpp::init(argc, argv);
auto nh = rclcpp::Node::make_shared("mocal_qualisys_node");
auto nh = rclcpp::Node::make_shared("mocap_qualisys_node");

mocap::QualisysDriver driver(nh);
if(!driver.init()) {
Expand Down