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Supply world frame orientation and heading to IMU sensor : DCO fix #1427
Supply world frame orientation and heading to IMU sensor : DCO fix #1427
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Signed-off-by: Aditya <[email protected]>
The changes here were originally approved here : #1320 |
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LGTM pending green CI. Thanks @adityapande-1995!
@scpeters any other comments?
Homebrew failures seem unrelated, and |
Codecov Report
@@ Coverage Diff @@
## ign-gazebo6 #1427 +/- ##
===============================================
+ Coverage 63.36% 63.46% +0.10%
===============================================
Files 306 307 +1
Lines 24715 24783 +68
===============================================
+ Hits 15660 15729 +69
+ Misses 9055 9054 -1
Continue to review full report at Codecov.
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@adityapande-1995 @scpeters when will this be forwarded to |
I'm not sure about the forward porting strategy, maybe @chapulina or @scpeters can comment about that ? We would also need to port gazebosim/gz-sensors#186 and gazebosim/gz-sensors#212 to main in |
it can be forward-ported at any time. I'll make an attempt |
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Thanks @scpeters! Now we just have to do the same here, right? |
This pull request has been mentioned on Gazebo Community. There might be relevant details there: https://community.gazebosim.org/t/new-releases-2022-04-27-fortress-citadel/1389/1 |
Signed-off-by: Aditya [email protected]
🎉 New feature
Ported from : #1320 to make the DCO bot happy
Summary
This PR, along with gazebosim/gz-sensors#186, enables the user to specify named orientation frames like ENU and NED as 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_dec offset 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_deg and localization tags to get different orientations for IMUs.
Checklist
codecheck
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