tf Transform on IMU data yielding unexpected results

RoboJackets / igvc-software

The code base for the RoboNav team's IGVC robot.

https://robojackets.org/teams/robonav/

MIT License

91 stars 120 forks source link

tf Transform on IMU data yielding unexpected results #35

Closed barulicm closed 7 years ago

barulicm commented 9 years ago

Applying the tf transform /imu -> /base_footprint on the IMU orientation quaternion does not produce the expected output. Grabbing Euler angles from the quaternion before and after the transformation shows the correct transformation in yaw, but leaves roll and pitch untouched.

barulicm commented 9 years ago

Hack-ish fix added to Ardupilot node. See igvc/src/ardupilot/ardupilot.cpp:51

dpattison3 commented 8 years ago

I haven't been able to recreate this issue with the new IMU set up, so I'm going to close the issue.