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byu-magicc / rosflight_plugins

Container for basic sensors needed for Gazebo simulation.
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Coordinate frames #4

Open plusk01 opened 7 years ago

plusk01 commented 7 years ago

Our Gazebo plugins publish in NED (and some also expose EDU). We need to nail down a ROSflight standard and make some graphics or something.

plusk01 commented 7 years ago

Also, consider using tf

DevonMorris commented 5 years ago

@skyler237 and I came across this again today. http://www.ros.org/reps/rep-0103.html says that the ROS convention is ENU and other coordinate representations should be suffixed such as '_ned'. The GPS plugin is assuming that Gazebo is returning its coordinate representation in NWU.

superjax commented 5 years ago

That's a good idea. Perhaps we should change the NED publications to have a _ned postfix. I would rather not serialize twice as much data though, so perhaps we should only publish if there is more than one subscriber?

I have tried to do everything in NED, because that is what I'm most familiar with, and there is a lot of UAV literature that does NED, but I like that standard of postfixing the topic.