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cmu-mars / brasscomms

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argument order for calling kinect #66

Closed ivoysey closed 7 years ago

ivoysey commented 7 years ago

  1. It turns out, Jarrett thinks of pitch, yaw, and roll in terms of x,y,z (rotation around x axis, y axis, etc). This is what his set__joint_rot takes: rot_x rot_y rot_z. The problem is, in my arbitrary ordering of p, y, r, I've got this wrong and so we need to adjust what we're sending (p=x, w=z,r=y) <-- But check my reasoning on this. This is important because of the next point.

  2. brasscomms needs to tell his recalibration node what the perturbation was, so he can pick the right file. We are going to do this on a topic. We will send an Int32MultiArray to the topic /calibration/perturb. The array will contain [x,y,z,rot_x,rot_y,rot_z].

ivoysey commented 7 years ago

Roll is x, Pitch is y, Yaw is Z, per https://en.wikipedia.org/wiki/Aircraft_principal_axes#/media/File:Flight_dynamics_with_text.png

ivoysey commented 7 years ago

r is roll, p is pitch, w is yaw (because y was already taken)

ivoysey commented 7 years ago

i believe this is done, just needs to be tested