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Measure IMU orientation with respect to world (ros2) #1064

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jacobperron merged 3 commits into from
Jun 2, 2020
Merged

Measure IMU orientation with respect to world (ros2) #1064

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d36f70c
Measure IMU orientation with respect to world (#1058)
scpeters Mar 12, 2020
f5640d0
IMU sensor: comply with REP 145 by default
scpeters Mar 11, 2020
02aa68b
uncrustify
scpeters Jun 2, 2020
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20 changes: 20 additions & 0 deletions gazebo_plugins/src/gazebo_ros_imu_sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,26 @@ void GazeboRosImuSensor::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPt
return;
}

bool initial_orientation_as_reference = false;
if (!_sdf->HasElement("initial_orientation_as_reference")) {
RCLCPP_INFO_STREAM(
impl_->ros_node_->get_logger(),
"<initial_orientation_as_reference> is unset, using default value of false "
"to comply with REP 145 (world as orientation reference)");
} else {
initial_orientation_as_reference = _sdf->Get<bool>("initial_orientation_as_reference");
}

if (initial_orientation_as_reference) {
RCLCPP_WARN_STREAM(
impl_->ros_node_->get_logger(),
"<initial_orientation_as_reference> set to true, this behavior is deprecated "
"as it does not comply with REP 145.");
} else {
// This complies with REP 145
impl_->sensor_->SetWorldToReferenceOrientation(ignition::math::Quaterniond::Identity);
}

impl_->pub_ = impl_->ros_node_->create_publisher<sensor_msgs::msg::Imu>(
"~/out", qos.get_publisher_qos("~/out", rclcpp::SensorDataQoS()));

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