Rename the parameter (x|y|z) to local_(x|y|z)

Signed-off-by: yamacir-kit <[email protected]>

external/concealer/include/concealer/publisher.hpp

@@ -82,9 +82,9 @@ struct NormalDistribution<nav_msgs::msg::Odometry>
   };
 
   // clang-format off
-  Error position_x_error,
-        position_y_error,
-        position_z_error,
+  Error position_local_x_error,
+        position_local_y_error,
+        position_local_z_error,
         orientation_r_error,
         orientation_p_error,
         orientation_y_error,

external/concealer/src/publisher.cpp

@@ -33,9 +33,9 @@ NormalDistribution<nav_msgs::msg::Odometry>::NormalDistribution(
     }
   }()),
   engine(seed ? seed : device()),
-  position_x_error(node, topic + ".nav_msgs::msg::Odometry.pose.pose.position.x.error"),
-  position_y_error(node, topic + ".nav_msgs::msg::Odometry.pose.pose.position.y.error"),
-  position_z_error(node, topic + ".nav_msgs::msg::Odometry.pose.pose.position.z.error"),
+  position_local_x_error(node, topic + ".nav_msgs::msg::Odometry.pose.pose.position.local_x.error"),
+  position_local_y_error(node, topic + ".nav_msgs::msg::Odometry.pose.pose.position.local_y.error"),
+  position_local_z_error(node, topic + ".nav_msgs::msg::Odometry.pose.pose.position.local_z.error"),
   orientation_r_error(node, topic + ".nav_msgs::msg::Odometry.pose.pose.orientation.r.error"),
   orientation_p_error(node, topic + ".nav_msgs::msg::Odometry.pose.pose.orientation.p.error"),
   orientation_y_error(node, topic + ".nav_msgs::msg::Odometry.pose.pose.orientation.y.error"),
@@ -57,9 +57,9 @@ auto NormalDistribution<nav_msgs::msg::Odometry>::operator()(nav_msgs::msg::Odom
 
   Eigen::Vector3d local_position = Eigen::Vector3d(0.0, 0.0, 0.0);
 
-  local_position.x() = position_x_error.apply(engine, local_position.x());
-  local_position.y() = position_y_error.apply(engine, local_position.y());
-  local_position.z() = position_z_error.apply(engine, local_position.z());
+  local_position.x() = position_local_x_error.apply(engine, local_position.x());
+  local_position.y() = position_local_y_error.apply(engine, local_position.y());
+  local_position.z() = position_local_z_error.apply(engine, local_position.z());
 
   const Eigen::Vector3d world_position = orientation.toRotationMatrix() * local_position;
 

test_runner/scenario_test_runner/config/parameters.yaml

@@ -8,23 +8,33 @@ simulation:
           pose:
             pose:
               position:
-                x:
+                # The data members of geometry_msgs::msg::Pose.position are x,
+                # y, z, which are world coordinates in
+                # `/localization/kinematic_state`. However, applying error to a
+                # position in world coordinates is unintuitive and tricky, so
+                # we accept the parameters as the entity's local coordinates.
+                # local_x, local_y, local_z express that. The simulator
+                # calculates the error in the local coordinates. It then
+                # transforms the error to the world coordinates, adds the error
+                # to the true position (world coordinates), and publishes it as
+                # `/localization/kinematic_state`.
+                local_x:
                   error:
                     additive:
                       mean: 0.0
                       standard_deviation: 0.0
                     multiplicative:
                       mean: 0.0
                       standard_deviation: 0.0
-                y:
+                local_y:
                   error:
                     additive:
                       mean: 0.0
                       standard_deviation: 0.0
                     multiplicative:
                       mean: 0.0
                       standard_deviation: 0.0
-                z:
+                local_z:
                   error:
                     additive:
                       mean: 0.0