Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Measure IMU orientation with respect to the world (noetic) #1057

Merged
merged 2 commits into from
Mar 25, 2020

Conversation

scpeters
Copy link
Member

Report the IMU orientation from the sensor plugin with respect to the world frame.
This complies with convention documented in REP 145: https://www.ros.org/reps/rep-0145.html

This ports #1051 from Melodic forward to Noetic and changes the default from retaining the legacy behavior (initialOrientationAsReference == true) to complying with REP 145 by default (initialOrientationAsReference == false). It also prints a deprecation warning if the user explicitly sets initialOrientationAsReference to true.

cc @jacobperron

Report the IMU orientation from the sensor plugin with respect to the world frame.
This complies with convention documented in REP 145: https://www.ros.org/reps/rep-0145.html

In order to not break existing behavior, users should opt-in by adding a new SDF tag.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Copy link
Collaborator

@jacobperron jacobperron left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

One typo, otherwise LGTM

gazebo_plugins/src/gazebo_ros_imu_sensor.cpp Outdated Show resolved Hide resolved
Change default value of initialOrientationAsReference to false
and print deprecation warning if user explicitly sets it to true.
@scpeters scpeters force-pushed the imu_orientation_noetic branch from d00232d to c00f2a6 Compare March 25, 2020 19:06
@scpeters scpeters merged commit 94d1aa4 into ros-simulation:noetic-devel Mar 25, 2020
@scpeters scpeters deleted the imu_orientation_noetic branch March 25, 2020 19:13
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

None yet

2 participants