RoboticaUtnFrba / create_autonomy

ROS autonomy stack for iRobot Create 2.

BSD 3-Clause "New" or "Revised" License

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Change IMU pose #208

Closed eborghi10 closed 4 years ago

eborghi10 commented 4 years ago

Description

Following this design document, the idea of this PR is to adjust the pose of the IMU, based on the real robot data.

IMG_20200614_122915

Type of change

Please delete options that are not relevant.

[X] Bug fix (non-breaking change which fixes an issue)
[ ] New feature (non-breaking change which adds functionality)
[ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
[ ] This change requires a documentation update

How Has This Been Tested?

# See the pose of the robot in RViz (using Gazebo)
GUI=false RVIZ=true roslaunch ca_gazebo create_empty_world.launch

Test Configuration:

[X] Real robot
[X] Gazebo simulation
[ ] Other (please specify)

Checklist:

[x] My code follows the style guidelines of this project (Travis CI is passing)
[X] I have performed a self-review of my own code
[X] I have commented my code, particularly in hard-to-understand areas
[X] I have made corresponding changes to the documentation
[X] My changes generate no new warnings
[X] I have added tests that prove my fix is effective or that my feature works
[X] New and existing unit tests pass locally with my changes