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ethz-asl / ethzasl_xsens_driver

Driver for xsens IMUs
BSD 2-Clause "Simplified" License
102 stars 112 forks source link

Clarification for the ENU frame #82

Open ghost opened 6 years ago

ghost commented 6 years ago

Hi, I understand that this driver uses the East-North-Up definition as per REP-103. I wanted to be sure I understand what this means. See below for a simple URDF I had created which shows the imu_base_link in the standard forward-left-up frame & the imu link which is in the East-North-Up frame. Am I interpreting this correctly?

xsens_mti_enu_frame_labels

Thanks in advance.

fcolas commented 6 years ago

You might want to check again section 5.2 of the user manual (MT0605P). ENU is used in the local earth-fixed reference frame typically for the orientation and velocity messages.

ghost commented 6 years ago

Would you be interested in a simple URDF to include with the driver? I have created one for the MTi which could be modified for other models.

fcolas commented 6 years ago

Why not, as in #50 I'd be happy to accept a pull request. However, please make sure that the dimensions and the IMU origin are as accurate as possible. And the same if you include (which is a good idea) the cable sockets. Thanks.

fcolas commented 6 years ago

Actually, thanks to your question, I realized that I was doing too many frame changes. I fixed that in the code.

ghost commented 6 years ago

@fcolas check out the request. see if this is the way you want to handle this.

Cheers, Vik