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msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966)

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- replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly)
 - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit
 - ekf2: add new helper to get roll/pitch/yaw covariances
 - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD)
 - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough)

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2022-08-04 12:55:21 -04:00
committed by GitHub
parent 61f390b0dd
commit dfdfbbfa9c
21 changed files with 838 additions and 646 deletions
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msg/vehicle_odometry.msg
+17 -54
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@@ -1,68 +1,31 @@
# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
# Covariance matrix index constants
uint8 COVARIANCE_MATRIX_X_VARIANCE=0
uint8 COVARIANCE_MATRIX_Y_VARIANCE=6
uint8 COVARIANCE_MATRIX_Z_VARIANCE=11
uint8 COVARIANCE_MATRIX_ROLL_VARIANCE=15
uint8 COVARIANCE_MATRIX_PITCH_VARIANCE=18
uint8 COVARIANCE_MATRIX_YAW_VARIANCE=20
uint8 COVARIANCE_MATRIX_VX_VARIANCE=0
uint8 COVARIANCE_MATRIX_VY_VARIANCE=6
uint8 COVARIANCE_MATRIX_VZ_VARIANCE=11
uint8 COVARIANCE_MATRIX_ROLLRATE_VARIANCE=15
uint8 COVARIANCE_MATRIX_PITCHRATE_VARIANCE=18
uint8 COVARIANCE_MATRIX_YAWRATE_VARIANCE=20
uint8 POSE_FRAME_UNKNOWN = 0
uint8 POSE_FRAME_NED = 1 # NED earth-fixed frame
uint8 POSE_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
uint8 pose_frame # Position and orientation frame of reference
# Position and linear velocity frame of reference constants
uint8 LOCAL_FRAME_NED=0 # NED earth-fixed frame
uint8 LOCAL_FRAME_FRD=1 # FRD earth-fixed frame, arbitrary heading reference
uint8 LOCAL_FRAME_OTHER=2 # Not aligned with the std frames of reference
uint8 BODY_FRAME_FRD=3 # FRD body-fixed frame
float32[3] position # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
float32[4] q # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown
# Position and linear velocity local frame of reference
uint8 local_frame
uint8 VELOCITY_FRAME_UNKNOWN = 0
uint8 VELOCITY_FRAME_NED = 1 # NED earth-fixed frame
uint8 VELOCITY_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference
uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
uint8 velocity_frame # Reference frame of the velocity data
# Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
float32 x # North position
float32 y # East position
float32 z # Down position
float32[3] velocity # Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
# Orientation quaternion. First value NaN if invalid/unknown
float32[4] q # Quaternion rotation from FRD body frame to reference frame
float32[4] q_offset # Quaternion rotation from odometry reference frame to navigation frame
float32[3] angular_velocity # Angular velocity in body-fixed frame (rad/s). NaN if invalid/unknown
# Row-major representation of 6x6 pose cross-covariance matrix URT.
# NED earth-fixed frame.
# Order: x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis
# If position covariance invalid/unknown, first cell is NaN
# If orientation covariance invalid/unknown, 16th cell is NaN
float32[21] pose_covariance
# Reference frame of the velocity data
uint8 velocity_frame
# Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
float32 vx # North velocity
float32 vy # East velocity
float32 vz # Down velocity
# Angular rate in body-fixed frame (rad/s). NaN if invalid/unknown
float32 rollspeed # Angular velocity about X body axis
float32 pitchspeed # Angular velocity about Y body axis
float32 yawspeed # Angular velocity about Z body axis
# Row-major representation of 6x6 velocity cross-covariance matrix URT.
# Linear velocity in NED earth-fixed frame. Angular velocity in body-fixed frame.
# Order: vx, vy, vz, rotation rate about X axis, rotation rate about Y axis, rotation rate about Z axis
# If linear velocity covariance invalid/unknown, first cell is NaN
# If angular velocity covariance invalid/unknown, 16th cell is NaN
float32[21] velocity_covariance
float32[3] position_variance
float32[3] orientation_variance
float32[3] velocity_variance
uint8 reset_counter
int8 quality
# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
# TOPICS estimator_odometry estimator_visual_odometry_aligned