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ROS2 bridge: stamp message headers/TF with sim time from each message's time_stamp #194

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ROS2 bridge: stamp message headers/TF with sim time from each message's time_stamp #194

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58 changes: 43 additions & 15 deletions ros/projectairsim_ros2_cpp/src/projectairsim_ros2_cpp_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,6 +113,25 @@ std_msgs::msg::Header MakeHeader(rclcpp::Node& node,
return header;
}

// Every Project AirSim sensor/pose message carries the sim clock in its
// "time_stamp" field (nanoseconds). Prefer it over the bridge's receive-time
// wall clock so messages rendered on the same sim tick (e.g. an RGB/depth
// pair) share an exact stamp and downstream time-synchronizers see sim time
// consistent with /clock.
std_msgs::msg::Header MakeHeader(rclcpp::Node& node,
const std::string& frame_id,
const nlohmann::json& msg) {
std_msgs::msg::Header header = MakeHeader(node, frame_id);
const auto it = msg.find("time_stamp");
if (it != msg.end() && it->is_number()) {
const auto nanos = it->get<int64_t>();
if (nanos > 0) {
header.stamp = rclcpp::Time(nanos);
}
}
return header;
}

} // namespace

class ProjectAirSimROS2CppNode final : public rclcpp::Node {
Expand Down Expand Up @@ -323,11 +342,17 @@ class ProjectAirSimROS2CppNode final : public rclcpp::Node {
void MaybeBroadcastTransform(const std::string& parent_frame_id,
const std::string& child_frame_id,
const json& position,
const json& orientation) {
const json& orientation,
const std::optional<builtin_interfaces::msg::Time>&
stamp = std::nullopt) {
if (!tf_broadcaster_ || child_frame_id.empty()) return;

geometry_msgs::msg::TransformStamped transform;
transform.header.stamp = get_clock()->now();
if (stamp.has_value()) {
transform.header.stamp = *stamp;
} else {
transform.header.stamp = get_clock()->now();
}
transform.header.frame_id = parent_frame_id;
transform.child_frame_id = child_frame_id;
transform.transform.translation = ToRosVector3(position);
Expand All @@ -342,7 +367,7 @@ class ProjectAirSimROS2CppNode final : public rclcpp::Node {
return [this, publisher, frame_id = TopicToFrameId(topic), topic](
const std::string&, const json& msg) {
sensor_msgs::msg::NavSatFix ros_msg;
ros_msg.header = MakeHeader(*this, frame_id);
ros_msg.header = MakeHeader(*this, frame_id, msg);
ros_msg.status.status =
NumberOr(msg, "fix_type") >= 2.0
? sensor_msgs::msg::NavSatStatus::STATUS_SBAS_FIX
Expand All @@ -364,13 +389,14 @@ class ProjectAirSimROS2CppNode final : public rclcpp::Node {
return [this, publisher, child_frame_id = TopicToFrameId(topic)](
const std::string&, const json& msg) {
geometry_msgs::msg::PoseStamped ros_msg;
ros_msg.header = MakeHeader(*this, tf_world_frame_id_);
ros_msg.header = MakeHeader(*this, tf_world_frame_id_, msg);
ros_msg.pose.position = ToRosPoint(msg.value("position", json::object()));
ros_msg.pose.orientation =
ToRosQuaternion(msg.value("orientation", json::object()));
MaybeBroadcastTransform(tf_world_frame_id_, child_frame_id,
msg.value("position", json::object()),
msg.value("orientation", json::object()));
msg.value("orientation", json::object()),
ros_msg.header.stamp);
publisher->publish(ros_msg);
};
}
Expand All @@ -382,7 +408,7 @@ class ProjectAirSimROS2CppNode final : public rclcpp::Node {
return [this, publisher, frame_id = TopicToFrameId(topic), topic](
const std::string&, const json& msg) {
sensor_msgs::msg::Imu ros_msg;
ros_msg.header = MakeHeader(*this, frame_id);
ros_msg.header = MakeHeader(*this, frame_id, msg);
ros_msg.orientation =
ToRosQuaternion(msg.value("orientation", json::object()));
ros_msg.angular_velocity =
Expand All @@ -403,7 +429,7 @@ class ProjectAirSimROS2CppNode final : public rclcpp::Node {
return [this, publisher, frame_id = TopicToFrameId(topic)](
const std::string&, const json& msg) {
sensor_msgs::msg::FluidPressure ros_msg;
ros_msg.header = MakeHeader(*this, frame_id);
ros_msg.header = MakeHeader(*this, frame_id, msg);
ros_msg.fluid_pressure = NumberOr(msg, "pressure");
ros_msg.variance = 0.0;
publisher->publish(ros_msg);
Expand All @@ -417,7 +443,7 @@ class ProjectAirSimROS2CppNode final : public rclcpp::Node {
return [this, publisher, frame_id = TopicToFrameId(topic)](
const std::string&, const json& msg) {
sensor_msgs::msg::MagneticField ros_msg;
ros_msg.header = MakeHeader(*this, frame_id);
ros_msg.header = MakeHeader(*this, frame_id, msg);
ros_msg.magnetic_field =
ToRosVector3(msg.value("magnetic_field_body", json::array()));
ros_msg.magnetic_field_covariance.fill(0.0);
Expand All @@ -438,7 +464,7 @@ class ProjectAirSimROS2CppNode final : public rclcpp::Node {
const std::string&, const json& msg) {
const auto points = ArrayNumbers(msg.value("point_cloud", json::array()));
sensor_msgs::msg::PointCloud2 cloud;
cloud.header = MakeHeader(*this, msg.value("frame_id", frame_id));
cloud.header = MakeHeader(*this, msg.value("frame_id", frame_id), msg);
cloud.height = 1;
cloud.width = static_cast<uint32_t>(points.size() / 3);
cloud.is_bigendian = false;
Expand Down Expand Up @@ -467,7 +493,7 @@ class ProjectAirSimROS2CppNode final : public rclcpp::Node {
return [this, publisher, frame_id = TopicToFrameId(topic)](
const std::string&, const json& msg) {
projectairsim_ros2_cpp::msg::RadarScan ros_msg;
ros_msg.header = MakeHeader(*this, frame_id);
ros_msg.header = MakeHeader(*this, frame_id, msg);
AppendRadarReturnsFromJson(msg.value("radar_detections", json::array()),
&ros_msg);
publisher->publish(ros_msg);
Expand All @@ -481,7 +507,7 @@ class ProjectAirSimROS2CppNode final : public rclcpp::Node {
return [this, publisher, frame_id = TopicToFrameId(topic)](
const std::string&, const json& msg) {
projectairsim_ros2_cpp::msg::RadarTracks ros_msg;
ros_msg.header = MakeHeader(*this, frame_id);
ros_msg.header = MakeHeader(*this, frame_id, msg);
AppendRadarTracksFromJson(msg.value("radar_tracks", json::array()), &ros_msg);
publisher->publish(ros_msg);
};
Expand All @@ -495,7 +521,7 @@ class ProjectAirSimROS2CppNode final : public rclcpp::Node {
return [this, publisher, frame_id = CameraFrameId(topic)](
const std::string&, const json& msg) {
sensor_msgs::msg::CameraInfo ros_msg;
ros_msg.header = MakeHeader(*this, frame_id);
ros_msg.header = MakeHeader(*this, frame_id, msg);
PopulateCameraInfoFromJson(msg, &ros_msg);
publisher->publish(ros_msg);
};
Expand All @@ -508,7 +534,7 @@ class ProjectAirSimROS2CppNode final : public rclcpp::Node {
return [this, publisher, frame_id = CameraFrameId(topic), topic](
const std::string&, const json& msg) {
sensor_msgs::msg::Image ros_msg;
ros_msg.header = MakeHeader(*this, msg.value("frame_id", frame_id));
ros_msg.header = MakeHeader(*this, msg.value("frame_id", frame_id), msg);
if (!PopulateImagePayloadFromJson(msg, &ros_msg)) {
RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 5000,
"Unsupported image encoding on %s: %s",
Expand All @@ -519,7 +545,8 @@ class ProjectAirSimROS2CppNode final : public rclcpp::Node {
if (msg.contains("position") && msg.contains("orientation")) {
MaybeBroadcastTransform(tf_world_frame_id_, ros_msg.header.frame_id,
msg.value("position", json::object()),
msg.value("orientation", json::object()));
msg.value("orientation", json::object()),
ros_msg.header.stamp);
} else if (msg.contains("pos_x") && msg.contains("rot_w")) {
MaybeBroadcastTransform(tf_world_frame_id_, ros_msg.header.frame_id,
json{{"x", NumberOr(msg, "pos_x")},
Expand All @@ -528,7 +555,8 @@ class ProjectAirSimROS2CppNode final : public rclcpp::Node {
json{{"x", NumberOr(msg, "rot_x")},
{"y", NumberOr(msg, "rot_y")},
{"z", NumberOr(msg, "rot_z")},
{"w", NumberOr(msg, "rot_w", 1.0)}});
{"w", NumberOr(msg, "rot_w", 1.0)}},
ros_msg.header.stamp);
}
publisher->publish(ros_msg);
};
Expand Down