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Pose, twist and odometry with covariance msgs#224

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scpeters merged 7 commits intoign-msgs8from
aditya/covariance_msgs
Mar 9, 2022
Merged

Pose, twist and odometry with covariance msgs#224
scpeters merged 7 commits intoign-msgs8from
aditya/covariance_msgs

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@adityapande-1995 adityapande-1995 commented Feb 23, 2022 •
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Signed-off-by: Aditya aditya050995@gmail.com

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🎉 New feature

Summary

This PR adds 2 new message types : TwistWithCovariance and PoseWithCovariance which have covariance matrices along with the original twist / pose message. This type was available in geometry_msgs/*WithCovariance and was used in gazebo_ros_pkgs in cases where the poses have noise associated with them.

Also fixes a minor typo in twist.proto

Checklist

  • Signed all commits for DCO
  • Added tests
  • Added example and/or tutorial
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

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@adityapande-1995
Added pose and twist with covariance msgs
8c84e99 
Signed-off-by: Aditya <aditya050995@gmail.com>
@adityapande-1995 adityapande-1995 changed the title Added pose and twist with covariance msgs Pose and twist with covariance msgs Feb 23, 2022
@github-actions github-actions bot added the 🏯 fortress Ignition Fortress label Feb 23, 2022
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codecov bot commented Feb 23, 2022 •
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Codecov Report

Merging #224 (91507a8) into ign-msgs8 (e7c0e3c) will not change coverage.
The diff coverage is n/a.

❗ Current head 91507a8 differs from pull request most recent head 78ffa6a. Consider uploading reports for the commit 78ffa6a to get more accurate results

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@@            Coverage Diff             @@
##           ign-msgs8     #224   +/-   ##
==========================================
  Coverage      85.38%   85.38%           
==========================================
  Files              9        9           
  Lines            951      951           
==========================================
  Hits             812      812           
  Misses           139      139

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@adityapande-1995
Fixed typo in twist.proto
66fc837 
Signed-off-by: Aditya <aditya050995@gmail.com>
@scpeters
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scpeters commented Feb 23, 2022

actually, have you tested whether the ros_ign bridge properly converts this to the corresponding ROS message?

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scpeters commented Feb 23, 2022

I'd rather not merge this to a stable branch if it hasn't been tested with the bridge

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adityapande-1995 commented Feb 23, 2022

I haven't tested it with the ros_ign bridge yet. On it 👍

@adityapande-1995
Added Odometry with covariance message
5769fd8 
Signed-off-by: Aditya <aditya050995@gmail.com>
@adityapande-1995 adityapande-1995 changed the title Pose and twist with covariance msgs Pose, twist and odometry with covariance msgs Mar 2, 2022
@adityapande-1995 adityapande-1995 mentioned this pull request Mar 8, 2022
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mjcarroll
mjcarroll reviewed Mar 8, 2022
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One tiny nit

jacobperron
jacobperron approved these changes Mar 8, 2022
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LGTM, one question about style below.

@adityapande-1995
fixed weird spaces
0426e8b 
Signed-off-by: Aditya <aditya050995@gmail.com>
@adityapande-1995 adityapande-1995 force-pushed the aditya/covariance_msgs branch from 03af435 to 0426e8b Compare March 8, 2022 18:08
@adityapande-1995
fixed weird spaces
1b70880 
Signed-off-by: Aditya <aditya050995@gmail.com>
@adityapande-1995 adityapande-1995 force-pushed the aditya/covariance_msgs branch from 6e226d8 to 1b70880 Compare March 8, 2022 18:12
@adityapande-1995
Updated description comment
9d33ded 
Signed-off-by: Aditya <aditya050995@gmail.com>
@adityapande-1995 adityapande-1995 force-pushed the aditya/covariance_msgs branch from 4eec69f to 9d33ded Compare March 8, 2022 18:29
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adityapande-1995 commented Mar 9, 2022

PR to bridge these msgs to ROS : gazebosim/ros_gz#222

@scpeters scpeters merged commit b41812f into ign-msgs8 Mar 9, 2022
@scpeters scpeters deleted the aditya/covariance_msgs branch March 9, 2022 21:17
@adityapande-1995 adityapande-1995 mentioned this pull request Mar 16, 2022
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osrf-triage commented Mar 25, 2022

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-03-25-fortress-edifice-citadel/1343/1

@jacobperron jacobperron mentioned this pull request Apr 20, 2022
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@jacobperron jacobperron jacobperron approved these changes

@scpeters scpeters scpeters approved these changes

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