IMU plugin incorrectly uses Quaternion orientation

ros-simulation / gazebo_ros_pkgs

Wrappers, tools and additional API's for using ROS with Gazebo

http://wiki.ros.org/gazebo_ros_pkgs

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IMU plugin incorrectly uses Quaternion orientation #344

Open TZ2016 opened 9 years ago

TZ2016 commented 9 years ago

Given q as the result returned from link->GetWorldPose().rot, to rotate a vector in world frame to body frame, we should use q.RotateVectorReverse(.) instead of RotateVector(.). In gazebo_ros_imu.cpp, angular velocity is calculated incorrectly.

ffurrer commented 9 years ago

@TZ2016 can you open a pull-request?