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microsoft / AirSim

Open source simulator for autonomous vehicles built on Unreal Engine / Unity, from Microsoft AI & Research
https://microsoft.github.io/AirSim/
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degrees in setting.json should be converted to radians in the ros wrapper? #3081

Open doublestrong opened 3 years ago

doublestrong commented 3 years ago

https://github.com/microsoft/AirSim/blob/d59ceb7f63878f5e087ea802d603ba0fd282ff56/ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp#L1275

hi,

when I played with the ROS wrapper, I found the orientation of a vehicle I rendered in rViz is different from that in UE4editor. I guess UE4editor reads angles as degrees from setting.json but the tf2::Quaternion::setRPY in the ROS wrapper reads them by radians? This inconsistency may mess up all the transformation data we got in ROS. Maybe we shall do deg2rad to angles before passing them to setRPY, which shows up in many places in the wrapper. Just like what we did here? (https://github.com/microsoft/AirSim/blob/d59ceb7f63878f5e087ea802d603ba0fd282ff56/AirLib/include/sensors/lidar/LidarSimpleParams.hpp#L86)

Best, Chad

stale[bot] commented 2 years ago

This issue has been automatically marked as stale because it has not had activity from the community in the last year. It will be closed if no further activity occurs within 20 days.