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robotology / whole-body-estimators

YARP devices that implement estimators for humanoid robots.
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[baseEstimatorV1][iCubGenova04] root link IMU name needs to be changed to root_link_imu_acc #9

Closed prashanthr05 closed 5 years ago

prashanthr05 commented 5 years ago

root_link_imu_acc is the actual name of the xsens inertial IMU mounted on the iCubGenova04 robot and is the name of the sensor in the URDF.

Instead, we are loading root_link_ems_acc_eb5 as the root link IMU.

In this case, we are taking a relative transform of a wrong sensor frame which might result in improper estimates while using the root link IMU.

prashanthr05 commented 5 years ago

This was fixed as a consequence of https://github.com/robotology/whole-body-estimators/pull/10.