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SBG-Systems / sbg_ros_driver

ROS 1 driver for SBG Systems IMU/AHRS/INS units such as ELLIPSE or QUANTA.
https://www.sbg-systems.com
MIT License
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Rotate quaternion by 90 degrees to point 0 to East to conforms to REP-105 #81

Closed julesberhault closed 5 months ago

julesberhault commented 1 year ago

In order to conforms with ROS conventions relating to frames orientation, an IMU orientation message must be in ENU frame. That means yaw must point 0 when facing East. https://www.ros.org/reps/rep-0105.html

rolker commented 1 year ago

Thanks for this. We encountered the same issue and this resolved it. I hope this gets merged in soon!

rsiryani commented 5 months ago

We have reworked the driver to better support ENU and this has been fixed. The develop branch should include all these fixes.