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osrf / robocup3ds

Gazebo support for the RoboCup 3D simulation league.
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Accelerometer and gyro data should be in torso's local frame #33

Open osrf-migration opened 8 years ago

osrf-migration commented 8 years ago

Original report (archived issue) by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

Apparently that's how it is on simspark. We should update them not to be w.r.t. the world, using GetRelativeAngularVel and GetRelativeLinearAccel instead of the *World* versions.

osrf-migration commented 8 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

Also, the accelerometer should report "proper acceleration", rather than the "coordinate acceleration".

This is the same as Gazebo's IMU sensor reports, for example, where the contribution of gravity is added.

It would be nice to also write tests with the proper expectations.

osrf-migration commented 8 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

osrf-migration commented 8 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

See pull request #60