Fixes bug with GPS coordinates produced by the hector gazebo plugin. I think this bug was the root cause of #492 and #529 managed to patch it by adding an offset to the IMUs.
This PR does the following:
Fixes bug with GPS coordinates
Fixes all waypoint files whose coordinates were previously wrong due to the bug.
Changes Swervi and Jessi IMU and Magnetometer yaw orientation to be 0 when facing north since most IMUs report 0 when facing north. I looked at the datasheet of the IMUs we currently have (Hillcrest Labs FSM-9) but couldn't find if this is actually true. Will look at this again during testing.
Fixes robot_localization node by setting the correct yaw offset.
Fixes #874
Testing steps
Test Case 1
Run roslaunch igvc_gazebo qualification.launch track:=0 (tracks 0 through 10 available to test)
Run roslaunch igvc_navigation navigation_simulation.launch
Expectation: Robot navigates to correct locations in simulation as expected.
Test Case 2
Run roslaunch igvc_gazebo qualification.launch track:=0 (tracks 0 through 10 available to test)
Run rostopic echo /fix
Move robot in +X axis and observe longitude increase.
Move robot in +Y axis and observe latitude increase.
Expectation: Latitude and longitude increase as expected in respective axes.
Description
Fixes bug with GPS coordinates produced by the hector gazebo plugin. I think this bug was the root cause of #492 and #529 managed to patch it by adding an offset to the IMUs.
This PR does the following:
robot_localizationnode by setting the correct yaw offset.Fixes #874
Testing steps
Test Case 1
roslaunch igvc_gazebo qualification.launch track:=0(tracks 0 through 10 available to test)roslaunch igvc_navigation navigation_simulation.launchExpectation: Robot navigates to correct locations in simulation as expected.
Test Case 2
roslaunch igvc_gazebo qualification.launch track:=0(tracks 0 through 10 available to test)rostopic echo /fixExpectation: Latitude and longitude increase as expected in respective axes.
Self Checklist
make format