Port odom #372
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Port odom #372
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Pull Request Overview
This PR ports the odometry calculation from RRDifferentialDriveComponent to DifferentialDriveComponent by updating wheel velocity functions and introducing new wheel link components.
- Added DeltaTime parameter to GetWheelVelocity in several components
- Extended SetWheels to accept additional wheel link components and updated odom update logic
- Adjusted odometry update based on the bUseWheelOdom flag and improved transform calculations
Reviewed Changes
Copilot reviewed 9 out of 9 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
| Source/RapyutaSimulationPlugins/Public/Drives/RRDifferentialDriveComponent.h | Updated GetWheelVelocity signature to include DeltaTime |
| Source/RapyutaSimulationPlugins/Public/Drives/DifferentialDriveComponentBase.h | Updated GetWheelVelocity signature and introduced bUseWheelOdom property |
| Source/RapyutaSimulationPlugins/Public/Drives/DifferentialDriveComponent.h | Extended SetWheels signature to include wheel link components and updated GetWheelVelocity |
| Source/RapyutaSimulationPlugins/Private/Robots/Turtlebot3/TurtlebotBurger.cpp | Adjusted SetWheels call to pass additional parameters |
| Source/RapyutaSimulationPlugins/Private/Drives/RRDifferentialDriveComponent.cpp | Updated GetWheelVelocity signature |
| Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponentBase.cpp | Updated odom update logic based on bUseWheelOdom and modified GetWheelVelocity calls |
| Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp | Revised SetWheels and GetWheelVelocity implementations to incorporate new wheel link inputs and transform calculations |
| Content/Robots/Turtlebot3/Physics/*.uasset | Updated asset hashes and sizes |
Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp
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…veComponent.cpp Co-authored-by: Copilot <[email protected]>
…veComponent.cpp Co-authored-by: Copilot <[email protected]>
danicannt
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Jul 2, 2025
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* port odom calc method from RRDifferentialDriveComponent to DifferentialDriveComponent * update BP_TurtlebotWaffle for odom update * update waffle param * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp Co-authored-by: Copilot <[email protected]> * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp Co-authored-by: Copilot <[email protected]> --------- Co-authored-by: Copilot <[email protected]>
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* port odom calc method from RRDifferentialDriveComponent to DifferentialDriveComponent * update BP_TurtlebotWaffle for odom update * update waffle param * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp Co-authored-by: Copilot <[email protected]> * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp Co-authored-by: Copilot <[email protected]> --------- Co-authored-by: Copilot <[email protected]>
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* port odom calc method from RRDifferentialDriveComponent to DifferentialDriveComponent * update BP_TurtlebotWaffle for odom update * update waffle param * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp Co-authored-by: Copilot <[email protected]> * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp Co-authored-by: Copilot <[email protected]> --------- Co-authored-by: Copilot <[email protected]>
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* port odom calc method from RRDifferentialDriveComponent to DifferentialDriveComponent * update BP_TurtlebotWaffle for odom update * update waffle param * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp Co-authored-by: Copilot <[email protected]> * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp Co-authored-by: Copilot <[email protected]> --------- Co-authored-by: Copilot <[email protected]>
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* port odom calc method from RRDifferentialDriveComponent to DifferentialDriveComponent * update BP_TurtlebotWaffle for odom update * update waffle param * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp Co-authored-by: Copilot <[email protected]> * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp Co-authored-by: Copilot <[email protected]> --------- Co-authored-by: Copilot <[email protected]>
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* port odom calc method from RRDifferentialDriveComponent to DifferentialDriveComponent * update BP_TurtlebotWaffle for odom update * update waffle param * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp --------- Co-authored-by: yuokamoto <[email protected]> Co-authored-by: Copilot <[email protected]>
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* port odom calc method from RRDifferentialDriveComponent to DifferentialDriveComponent * update BP_TurtlebotWaffle for odom update * update waffle param * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp --------- Co-authored-by: yuokamoto <[email protected]> Co-authored-by: Copilot <[email protected]>
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* port odom calc method from RRDifferentialDriveComponent to DifferentialDriveComponent * update BP_TurtlebotWaffle for odom update * update waffle param * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp --------- Co-authored-by: yuokamoto <[email protected]> Co-authored-by: Copilot <[email protected]>
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Jul 2, 2025
* port odom calc method from RRDifferentialDriveComponent to DifferentialDriveComponent * update BP_TurtlebotWaffle for odom update * update waffle param * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp --------- Co-authored-by: yuokamoto <[email protected]> Co-authored-by: Copilot <[email protected]>
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* port odom calc method from RRDifferentialDriveComponent to DifferentialDriveComponent * update BP_TurtlebotWaffle for odom update * update waffle param * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp --------- Co-authored-by: yuokamoto <[email protected]> Co-authored-by: Copilot <[email protected]>
yuokamoto
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Jul 2, 2025
* port odom calc method from RRDifferentialDriveComponent to DifferentialDriveComponent * update BP_TurtlebotWaffle for odom update * update waffle param * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp * Update Source/RapyutaSimulationPlugins/Private/Drives/DifferentialDriveComponent.cpp --------- Co-authored-by: yuokamoto <[email protected]> Co-authored-by: Copilot <[email protected]>
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port odom calculation from RRDifferentialDriveComponent to DifferentialDriveComponent