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ros-drivers / um7

ROS driver for UM7 inertial measurement device.
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Incorrect orientation quaternion for robot_frame #29

Closed alanpapalia closed 2 years ago

alanpapalia commented 2 years ago

It seems like the quaternion formed in the IMU message under case OutputAxisOptions::ROBOT_FRAME might be incorrect? For example, when observing velocity in the +yaw direction I am seeing a -yaw change in the orientation. I believe the same is true for pitch. It seems like the correct orientation (to match the accelerations and velocities) would be a 180 degree rotation around the x-axis.

This is assuming that the correct ROBOT_FRAME is (X/Y/Z) == (Front/Left/Up)

alanpapalia commented 2 years ago

I think this was confusion as to which params were being used on our end... disregard