RSDK-4861 - C++/cgo support for Odometer #301
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viambot
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kkufieta
commented
Dec 6, 2023
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| // PATRICIA TODO: #242 | ||
| // non first sensor | ||
| { | ||
| viam_carto_lidar_reading sr; | ||
| // must be they first sensor in the sensor list | ||
| sr.lidar = bfromcstr("sensor_2"); | ||
| std::string pcd = help::binary_pcd(points); | ||
| sr.lidar_reading = blk2bstr(pcd.c_str(), pcd.length()); | ||
| BOOST_TEST(sr.lidar_reading != nullptr); | ||
| sr.lidar_reading_time_unix_milli = 1687900014152474; | ||
| BOOST_TEST(viam_carto_add_lidar_reading(vc, &sr) == | ||
| VIAM_CARTO_UNKNOWN_SENSOR_NAME); | ||
| BOOST_TEST(viam_carto_add_lidar_reading_destroy(&sr) == | ||
| VIAM_CARTO_SUCCESS); | ||
| } | ||
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This is a duplicate from the case above.
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| BOOST_TEST(pr.x == 0); | ||
| BOOST_TEST(pr.y == 0); | ||
| BOOST_TEST(pr.x != 0); | ||
| BOOST_TEST(pr.y != 0); | ||
| BOOST_TEST(pr.z == 0); | ||
| BOOST_TEST(pr.imag == 0); | ||
| BOOST_TEST(pr.jmag == 0); | ||
| BOOST_TEST(pr.kmag == 0); | ||
| BOOST_TEST(pr.real == 1); |
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There was something wrong before since those values were supposed to have been non-zero. This might be connected to the fact that the IMU data had the same timestamps as the lidar data. Either way, this is fixed now with this PR.
randhid
reviewed
Dec 7, 2023
jeremyrhyde
reviewed
Dec 7, 2023
cartofacade/carto_facade.go
Outdated
| @@ -15,7 +15,8 @@ import ( | |||
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| var emptyRequestParams = map[RequestParamType]interface{}{} | |||
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| // ErrUnableToAcquireLock is the error returned from AddLidarReading and/or AddIMUReading when lock can't be acquired. | |||
| // ErrUnableToAcquireLock is the error returned from AddLidarReading and/or AddIMUReading | |||
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Suggested change
| // ErrUnableToAcquireLock is the error returned from AddLidarReading and/or AddIMUReading | |
| // ErrUnableToAcquireLock is the error returned from AddLidarReading, AddIMUReading, |
randhid
reviewed
Dec 8, 2023
cartofacade/capi.go
Outdated
| defer C.free(unsafe.Pointer(sensorCStr)) | ||
| sr.odometer = C.blk2bstr(unsafe.Pointer(sensorCStr), C.int(len(movementSensor))) | ||
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| translation := spatialmath.GeoPointToPose(reading.Position, geo.NewPoint(0, 0)).Point() |
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I don't think this function is in latest anymore. But the logic in GeoPointToPoint is what you want.
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randhid
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Dec 8, 2023
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Ticket: https://viam.atlassian.net/browse/RSDK-4861
Done:
Tested on Intel Mac: