[mecanum_drive_controller] Fix Odometry Initialization

[Juliaj]

This PR addresses an issue where the odometry object wasn't initialized properly in the mecanum_drive_controller. The odometry_.init() call was missing, which the base_frame_offset_ could contain random values, leading to incorrect calculations in the transformation matrix. Specifically, this affects the line:

tf2::Vector3 linear_transformation_from_center_2_base =
    angular_transformation_from_center_2_base *
    tf2::Vector3(-base_frame_offset_[0], -base_frame_offset_[1], 0.0);

and causes velocity_in_base_frame_linear_x and velocity_in_base_frame_linear_y to grow unbound. A test case was added to guard against this issue.

[christophfroehlich]

We have a different API now for the handles, see #1565
Can you focus here on the actual bugfix please? @kumar-sanjeeev is already working on the handles fixes in this repo, which is not only a search-and-replace job.

[Juliaj]

We have a different API now for the handles, see #1565
Can you focus here on the actual bugfix please?

Thanks @christophfroehlich, I missed that, reverted my changes.

@kumar-sanjeeev is already working on the handles fixes in this repo, which is not only a search-and-replace job.

Thank you, Kumar for making the fixes. In the new test I added, I'm still making deprecated get_value() call. Let me know whether you'd prefer for me to change it to new style in this PR.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 84.86%. Comparing base (90a9674) to head (fb1772e).
Report is 2 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1573      +/-   ##
==========================================
+ Coverage   84.74%   84.86%   +0.12%     
==========================================
  Files         124      124              
  Lines       11514    11566      +52     
  Branches      983      987       +4     
==========================================
+ Hits         9758     9816      +58     
+ Misses       1441     1433       -8     
- Partials      315      317       +2     

Flag	Coverage Δ
unittests	84.86% <100.00%> (+0.12%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ller/include/mecanum_drive_controller/odometry.hpp	100.00% <100.00%> (ø)
..._drive_controller/src/mecanum_drive_controller.cpp	90.68% <100.00%> (+0.11%)	⬆️
..._controller/test/test_mecanum_drive_controller.cpp	100.00% <100.00%> (ø)
..._controller/test/test_mecanum_drive_controller.hpp	86.51% <ø> (+0.47%)	⬆️

... and 8 files with indirect coverage changes

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[christophfroehlich]

I see your point of the missing init. But the test is succeeding also without the init call. Can you verify that?

[Juliaj]

I see your point of the missing init. But the test is succeeding also without the init call. Can you verify that?

It is because that issue is related to accessing uninitialized memory. Even though it is fairly easy to repro, it is not 100% reproducible. I added explicit steps to verify the base_frame_offset is set properly.

[christophfroehlich]

Thanks!

[saikishor]

LGTM