custom_rpy parent_frame should be set to 'world' in IMUs #212
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Signed-off-by: Aditya <aditya050995@gmail.com>
8 tasks
Codecov Report
@@ Coverage Diff @@
## ign-sensors6 #212 +/- ##
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Coverage 72.55% 72.55%
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Files 33 33
Lines 3094 3094
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Hits 2245 2245
Misses 849 849
Continue to review full report at Codecov.
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The failures on homebrew are flaky, and not due to this particular PR. |
8 tasks
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This pull request has been mentioned on Gazebo Community. There might be relevant details there: https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1 |
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Signed-off-by: Aditya aditya050995@gmail.com
🦟 Bug fix
Summary
Originally, the
custom_rpyorientation reference frame for IMUs, added here : #186, accepts aparent_framew.r.t which the roll, pitch, yaw are applied. If left blank, this should default to the sensor's parent frame (http://sdformat.org/spec?ver=1.9&elem=sensor#custom_rpy_parent_frame), whereas in the current implementation it defaults to world frame.It is not possible to support every possible parent fame for now and only the 'world' can be set as the parent frame, due to limitations with sdf parsing. This PR makes
custom_rpyonly acceptworldas a parent frame, and anything else is rejected for now. Check this for the original discussion : gazebosim/gz-sim#1320 (comment)Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
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