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choreonoid / choreonoid_ros

ROS package to use Choreonoid as a ROS node
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[BodyROS2] Correct RangeVisionSensor frames #21

Closed ssr-yuki closed 5 months ago

ssr-yuki commented 5 months ago

This PR corrects RangeVisionSenor frames in BodyROS2 by replacing Ro into its transpose.

I did not notice this bug in 12339fa because I used cv-frame for a test, which is diagonal and invariant for the transpose operation. For this PR I tested all types of frames defined in here.

In addition, I refactor the related codes and add some comments for the transformation.

ssr-yuki commented 5 months ago

I just rebase the PR branch onto the latest master :)

ssr-yuki commented 5 months ago

Dr. Nakaoka approved this in another tool.