Reference frame ENU or NED

[martorelltorres]

Hi everyone! Can I assume that the data output of the imu_node.py are given in ENU? In the code the are several anotation related to this topic:

#in AHRS firmware z axis points down, in ROS z axis points up (see REP 103)
        yaw_deg = -float(words[0])
        yaw_deg = yaw_deg + imu_yaw_calibration
        if yaw_deg > 180.0:
            yaw_deg = yaw_deg - 360.0
        if yaw_deg < -180.0:
            yaw_deg = yaw_deg + 360.0
        yaw = yaw_deg*degrees2rad
        #in AHRS firmware y axis points right, in ROS y axis points left (see REP 103)
        pitch = -float(words[1])*degrees2rad
        roll = float(words[2])*degrees2rad

        # Publish message
        # AHRS firmware accelerations are negated
        # This means y and z are correct for ROS, but x needs reversing
        imuMsg.linear_acceleration.x = -float(words[3]) * accel_factor
        imuMsg.linear_acceleration.y = float(words[4]) * accel_factor
        imuMsg.linear_acceleration.z = float(words[5]) * accel_factor

        imuMsg.angular_velocity.x = float(words[6])
        #in AHRS firmware y axis points right, in ROS y axis points left (see REP 103)
        imuMsg.angular_velocity.y = -float(words[7])
        #in AHRS firmware z axis points down, in ROS z axis points up (see REP 103) 
        imuMsg.angular_velocity.z = -float(words[8])

Thank you!