From f7f9acadb948e68c417df2030b68a4c9542a2829 Mon Sep 17 00:00:00 2001
From: Aditya Pande <aditya050995@gmail.com>
Date: Mon, 4 Apr 2022 14:39:16 -0700
Subject: [PATCH] IMU custom_rpy parent_frame should be set to 'world' (#212)

Signed-off-by: Aditya <aditya050995@gmail.com>
---
 src/ImuSensor.cc      | 4 ++--
 src/ImuSensor_TEST.cc | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/ImuSensor.cc b/src/ImuSensor.cc
index b7cb5d1e..1b99971d 100644
--- 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
index c035a376..2b7576e2 100644
--- 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));