Supply world frame orientation and heading to IMU sensor #1320
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Signed-off-by: Aditya <[email protected]>
Signed-off-by: Aditya <[email protected]>
Signed-off-by: Aditya <[email protected]>
adityapande-1995
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Signed-off-by: Aditya <[email protected]>
Signed-off-by: Aditya <[email protected]>
Signed-off-by: Aditya <[email protected]>
8 tasks
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Adding expected behavior of the "CUSTOM" tag. |
Signed-off-by: Aditya <[email protected]>
nkoenig
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Feb 7, 2022
src/systems/imu/Imu.cc
Outdated
| 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 <[email protected]>
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Signed-off-by: Aditya <[email protected]>
Signed-off-by: Aditya <[email protected]>
Signed-off-by: Aditya <[email protected]>
Signed-off-by: Aditya <[email protected]>
jacobperron
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Mar 16, 2022
…ding tag in world file Signed-off-by: Aditya <[email protected]>
Signed-off-by: Aditya <[email protected]>
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Signed-off-by: Louise Poubel <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>
Signed-off-by: Aditya <[email protected]>
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Signed-off-by: Aditya <[email protected]>
7 tasks
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…ystem' of https://github.com/ignitionrobotics/ign-gazebo into aditya/named_frames_imu_system
Signed-off-by: Aditya <[email protected]>
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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 <[email protected]>
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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.🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸🔸