IMU custom_rpy parent_frame should be set to 'world' (#212)

Signed-off-by: Aditya <aditya050995@gmail.com>
gazebosim · Apr 4, 2022 · f7f9aca · f7f9aca
1 parent 62da728
commit f7f9aca
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/ImuSensor.cc b/src/ImuSensor.cc
@@ -321,14 +321,14 @@ void ImuSensor::SetWorldFrameOrientation(
   // Set orientation reference frame if custom_rpy was supplied
   if (this->dataPtr->sensorOrientationRelativeTo == WorldFrameEnumType::CUSTOM)
   {
-    if (this->dataPtr->customRpyParentFrame == "")
+    if (this->dataPtr->customRpyParentFrame == "world")
     {
       this->SetOrientationReference(this->dataPtr->worldRelativeOrientation *
         this->dataPtr->customRpyQuaternion);
     }
     else
     {
-      ignwarn << "custom_rpy parent frame must be set to empty "
+      ignwarn << "custom_rpy parent frame must be set to 'world' "
                 "string. Setting it to any other frame is not "
                 "supported yet." << std::endl;
     }

diff --git a/src/ImuSensor_TEST.cc b/src/ImuSensor_TEST.cc
@@ -411,7 +411,7 @@ TEST(ImuSensor_TEST, OrientationReference)
     << "      <imu>"
     << "      <orientation_reference_frame>"
     << "      <localization>CUSTOM</localization>"
-    << "      <custom_rpy>1.570795 0 0</custom_rpy>"
+    << "      <custom_rpy parent_frame='world'>1.570795 0 0</custom_rpy>"
     << "      </orientation_reference_frame>"
     << "      </imu>"
     << "      <always_on>1</always_on>"
@@ -507,7 +507,7 @@ TEST(ImuSensor_TEST, CustomRpyParentFrame)
   sensor->Update(std::chrono::steady_clock::duration(
     std::chrono::nanoseconds(10000000)));
 
-  // Since parent_frame is not set to empty in the sdf,
+  // Since parent_frame is not set to 'world' in the sdf,
   // custom_rpy will be rejected and reference orientation will
   // not be set.
   math::Quaterniond orientValue(math::Vector3d(-1.570795, 0, 0));