add 3D tutorial (#27)

fuse_tutorials/CMakeLists.txt

@@ -44,10 +44,13 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   ${sensor_msgs_TARGETS}
 )
 
-# tutorial_sim executable
+# tutorial_sim executables
 add_executable(range_sensor_simulator src/range_sensor_simulator.cpp)
 target_link_libraries(range_sensor_simulator ${PROJECT_NAME})
 
+add_executable(three_dimensional_simulator src/three_dimensional_simulator.cpp)
+target_link_libraries(three_dimensional_simulator ${PROJECT_NAME})
+
 #############
 ## Testing ##
 #############
@@ -75,6 +78,7 @@ install(TARGETS
   TARGETS range_sensor_simulator
   DESTINATION lib/${PROJECT_NAME}
 )
+install(TARGETS three_dimensional_simulator DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY launch config data
   DESTINATION share/${PROJECT_NAME}

fuse_tutorials/config/fuse_3d_tutorial.rviz

@@ -0,0 +1,213 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Odometry1/Shape1
+        - /Odometry2/Shape1
+      Splitter Ratio: 0.5
+    Tree Height: 555
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: false
+      Enabled: true
+      Keep: 1
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 0; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /ground_truth
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 1
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 0; 255; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /odom_filtered
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 10.72309398651123
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 60
+  Y: 60

fuse_tutorials/config/fuse_3d_tutorial.yaml

@@ -0,0 +1,61 @@
+state_estimator:
+  ros__parameters:
+    # Fixed-lag smoother configuration
+    optimization_frequency: 20.0
+    transaction_timeout: 0.01
+    lag_duration: 0.5
+
+    # all our sensors will be using this motion model
+    motion_models:
+      3d_motion_model:
+        type: fuse_models::Omnidirectional3D
+
+    3d_motion_model:
+      # x, y, z, roll, pitch, yaw, x_vel, y_vel, z_vel, roll_vel, pitch_vel, yaw_vel, x_acc, y_acc, z_acc
+      process_noise_diagonal: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+
+    sensor_models:
+      initial_localization_sensor:
+        type: fuse_models::Omnidirectional3DIgnition
+        motion_models: [3d_motion_model]
+        ignition: true
+      odometry_sensor:
+        type: fuse_models::Odometry3D
+        motion_models: [3d_motion_model]
+      imu_sensor:
+        type: fuse_models::Imu3D
+        motion_models: [3d_motion_model]
+
+    initial_localization_sensor:
+      publish_on_startup: true
+      # x, y, z, roll, pitch, yaw, x_vel, y_vel, z_vel, roll_vel, pitch_vel, yaw_vel, x_acc, y_acc, z_acc
+      initial_state: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+      initial_sigma: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+
+    odometry_sensor:
+      topic: 'odom'
+      twist_target_frame: 'base_link'
+      # we only want position and orientation, but you can get a full odometry measurement from this sensor
+      position_dimensions: ['x', 'y', 'z']
+      orientation_dimensions: ['roll', 'pitch', 'yaw']
+
+    imu_sensor:
+      topic: 'imu'
+      acceleration_target_frame: 'base_link'
+      # we only care about linear acceleration for this tutorial
+      linear_acceleration_dimensions: ['x', 'y', 'z']
+
+    # this publishes our estimated odometry
+    publishers:
+      filtered_publisher:
+        type: fuse_models::Odometry3DPublisher
+
+    # the configuration of our output publisher
+    filtered_publisher:
+      topic: 'odom_filtered'
+      base_link_frame_id: 'base_link'
+      odom_frame_id: 'odom'
+      map_frame_id: 'map'
+      world_frame_id: 'odom'
+      publish_tf: true
+      publish_frequency: 10.0

fuse_tutorials/launch/fuse_3d_tutorial.launch.py

@@ -0,0 +1,67 @@
+#! /usr/bin/env python3
+
+# Copyright 2024 PickNik Robotics
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import Node, SetParameter
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    pkg_dir = FindPackageShare("fuse_tutorials")
+
+    return LaunchDescription(
+        [
+            # tell tf2 that map is the same as odom
+            # without this, visualization won't work as we have no reference
+            Node(
+                package="tf2_ros",
+                executable="static_transform_publisher",
+                arguments=["0", "0", "0", "0", "0", "0", "map", "odom"],
+            ),
+            # run our simulator
+            Node(
+                package="fuse_tutorials",
+                executable="three_dimensional_simulator",
+                name="three_dimensional_simulator",
+                output="screen",
+            ),
+            # run our estimator
+            Node(
+                package="fuse_optimizers",
+                executable="fixed_lag_smoother_node",
+                name="state_estimator",
+                parameters=[
+                    PathJoinSubstitution([pkg_dir, "config", "fuse_3d_tutorial.yaml"])
+                ],
+            ),
+            # run visualization
+            Node(
+                package="rviz2",
+                executable="rviz2",
+                name="rviz",
+                arguments=[
+                    "-d",
+                    [
+                        PathJoinSubstitution(
+                            [pkg_dir, "config", "fuse_3d_tutorial.rviz"]
+                        )
+                    ],
+                ],
+            ),
+        ]
+    )