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Collision Prevention: Scale obstacle distance with vehicle attitude for varying sensor orientations (#24107)

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This commit is contained in:
Mahima Yoga
2024-12-20 14:47:22 +01:00
committed by GitHub
parent b765769f50
commit defccfa99b
2 changed files with 18 additions and 4 deletions
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src/modules/simulation/gz_bridge/GZBridge.cpp
+10
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@@ -800,7 +800,10 @@ void GZBridge::laserScantoLidarSensorCallback(const gz::msgs::LaserScan &scan)
pose_orientation.y(),
pose_orientation.z());
const gz::math::Quaterniond q_left(0.7071068, 0, 0, -0.7071068);
const gz::math::Quaterniond q_front(0.7071068, 0.7071068, 0, 0);
const gz::math::Quaterniond q_down(0, 1, 0, 0);
if (q_sensor.Equal(q_front, 0.03)) {
@@ -809,8 +812,15 @@ void GZBridge::laserScantoLidarSensorCallback(const gz::msgs::LaserScan &scan)
} else if (q_sensor.Equal(q_down, 0.03)) {
distance_sensor.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
} else if (q_sensor.Equal(q_left, 0.03)) {
distance_sensor.orientation = distance_sensor_s::ROTATION_LEFT_FACING;
} else {
distance_sensor.orientation = distance_sensor_s::ROTATION_CUSTOM;
distance_sensor.q[0] = q_sensor.W();
distance_sensor.q[1] = q_sensor.X();
distance_sensor.q[2] = q_sensor.Y();
distance_sensor.q[3] = q_sensor.Z();
}
_distance_sensor_pub.publish(distance_sensor);