IMU publisher inconsistent coordinate system

fsstudio-team / ZeroSimROSUnity

Robotic simulation in Unity with ROS integration.

https://roboticsimulationservices.com/

MIT License

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IMU publisher inconsistent coordinate system #9

Open EdvardGrodem opened 3 years ago

EdvardGrodem commented 3 years ago

The description of this IMU configuration yields a left handed coordinate system but claims to be right handed.

https://github.com/fsstudio-team/ZeroSimROSUnity/blob/ead163a96296c3b3dbd83315e050941c259b3892/Runtime/Scripts/ROS/Unity/Publishers/ZOROSIMUPublisher.cs#L131

micahpearlman commented 3 years ago

@EdvardGrodem thank you for the bug report. Can you provide more detail on how you are testing & verifying this issue?

rendellc commented 3 years ago

Coworker of @EdvardGrodem here, we didn't use this setting so we didn't run into this bug ourselves. We only found it by chance because we were reading the source code to get a better understanding of what ZeroSim does

micahpearlman commented 3 years ago

@rendellc thank you for the clarification. Any chance we can get a patch or pull request?