Supply world frame orientation and heading to IMU sensor #1320
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Signed-off-by: Aditya <aditya050995@gmail.com>
Signed-off-by: Aditya <aditya050995@gmail.com>
Signed-off-by: Aditya <aditya050995@gmail.com>
adityapande-1995
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Signed-off-by: Aditya <aditya050995@gmail.com>
Signed-off-by: Aditya <aditya050995@gmail.com>
Signed-off-by: Aditya <aditya050995@gmail.com>
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Adding expected behavior of the "CUSTOM" tag. |
Signed-off-by: Aditya <aditya050995@gmail.com>
nkoenig
reviewed
Feb 7, 2022
src/systems/imu/Imu.cc
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| heading = sphericalCoordinates.HeadingOffset().Radian(); | ||
| } | ||
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| sensor->SetWorldFrameOrientation(math::Quaterniond(0, 0, heading), |
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Should this function only be executed if the World has SphericalCoordinates?
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sensor->SetWorldFrameOrientation should be run irrespective of whether the World has SphericalCoordinates because that is where the <localization> tag in IMU is parsed. Added here : https://github.com/ignitionrobotics/ign-sensors/blob/33a79c6524e69dbf4006815458cddef1fec3f785/src/ImuSensor.cc#L315
For the heading = .... line, that was just to make sure it defaults to 0, and is then overridden if the world has spherical coordinates. Maybe I can remove that if sphericalCoordinates has a default with 0 heading.
Co-authored-by: Nate Koenig <nkoenig@users.noreply.github.com>
chapulina
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Signed-off-by: Aditya <aditya050995@gmail.com>
Signed-off-by: Aditya <aditya050995@gmail.com>
Signed-off-by: Aditya <aditya050995@gmail.com>
Signed-off-by: Aditya <aditya050995@gmail.com>
jacobperron
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Mar 16, 2022
…ding tag in world file Signed-off-by: Aditya <aditya050995@gmail.com>
Signed-off-by: Aditya <aditya050995@gmail.com>
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Signed-off-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: Aditya <aditya050995@gmail.com>
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Signed-off-by: Aditya <aditya050995@gmail.com>
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…ystem' of https://github.com/ignitionrobotics/ign-gazebo into aditya/named_frames_imu_system
Signed-off-by: Aditya <aditya050995@gmail.com>
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hidmic
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Apr 5, 2022
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Yeah, I don't think the new release has been applied to homebrew yet : osrf/homebrew-simulation#1863 |
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Signed-off-by: Aditya <aditya050995@gmail.com>
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🎉 New feature
Summary
This PR, along with gazebosim/gz-sensors#186, enables the user to specify named orientation frames like ENU and NED as
<localization>reference tags for the IMU sensor. The sensor should output the orientation based on the frame specified in the localization tag.This should also take into account the orientation of the world and the
heading_decoffset in the<spherical_coordiantes>tag. Currently, spherical coordinates tag nly supports the ENU world fame.Test it
2 integration tests have been added that use a combination of
heading_degandlocalizationtags to get different orientations for IMUs.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
Signed-off-bymessages.🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸