Closed srmainwaring closed 1 year ago
The plugin xml has an incorrect mapping between the world frames used in Gazebo and ArduPilot.
The change required to correct the transform from ENU to NED is:
- <gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED> + <gazeboXYZToNED>0 0 0 3.141593 0 1.57079632</gazeboXYZToNED>
The inconsistency becomes apparent when fixing geo coordinates in a Gazebo world file and using the NavSat sensor, or when using ROS to bridge data via MAVProxy or DDS to the flight controller.
Bug report
The plugin xml has an incorrect mapping between the world frames used in Gazebo and ArduPilot.
The change required to correct the transform from ENU to NED is:
The inconsistency becomes apparent when fixing geo coordinates in a Gazebo world file and using the NavSat sensor, or when using ROS to bridge data via MAVProxy or DDS to the flight controller.