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gazebosim / gz-sim

Open source robotics simulator. The latest version of Gazebo.
https://gazebosim.org
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OdometryPublisher xyz_global_offset, rpy_global_offset #2515

Open aserbremen opened 1 month ago

aserbremen commented 1 month ago

Desired behavior

Being able to configure the global intial/odometry frame position with the OdometryPublisher using something like xyz_global_offset, rpy_global_offset . This way it would be possible to publish the ground truth odometry of an entity wrt. to an arbitrary frame (e.g. using odom_frame=odom and robot_base_frame=base_link).

Alternatives considered

I tried to use xyz_offset and rpy_offset but the odometry result is changed in body-fixed coordinates, so that these parameters cannot be used to achieve the desired behavior. When rotating the entity that uses xyz_offset and rpy_offset the pose is changed drastically and is not usable anymore.

Implementation suggestion

This file has to be changed, with the additional parameter: https://github.com/gazebosim/gz-sim/blob/gz-sim8/src/systems/odometry_publisher/OdometryPublisher.cc

Additional context

I use Gazebo Sim, version 6.16.0.

azeey commented 1 month ago

Thanks for the feature request. It would a nice capability to have. Are you interested in working on it?

aserbremen commented 1 month ago

Sure, I can give it a try. What would be the workflow if I have gazebo installed from debian packages on my local machine.

Do I clone my forked gz-sim into a colcon workspace and build it locally. Then i have to make sure to launch the world using the local ign binary gazebo, I suppose?

Due to work-related deadlines, I might be only to work on it at the end of October, but I will keep you updated.

azeey commented 1 month ago

It would be best to open a PR on the latest stable version (gz-sim8 or gz-sim9 by October) and then backport to the version you're using.

Do I clone my forked gz-sim into a colcon workspace and build it locally. Then i have to make sure to launch the world using the local ign binary gazebo, I suppose?

Mixing system installed versions with source builds can be tricky so I recommend building the whole collection from source following this tutorial.

Due to work-related deadlines, I might be only to work on it at the end of October, but I will keep you updated.

That's actually good because we are in feature freeze right now and would not be able to review a PR until October anyway.