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nasa / astrobee

NASA Astrobee Robot Software
https://www.nasa.gov/astrobee
Apache License 2.0
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Fixed Gazebo IMU transform #787

Open rsoussan opened 1 month ago

rsoussan commented 1 month ago

Currently the IMU sensor transform for gazebo is identity. This differs from the ISS bumble.config IMU transform, and this discontinuity causes the localizer to handle it incorrectly. Oddly, when changing the .xacro file though, gazebo doesn't seem to alter the IMU location. This was attempted even with crazy transforms that swap x with z axes, and this gave the same result in gazebo.

bcoltin commented 1 month ago

Am I understanding right that this isn't working?