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tud-cor / FS19_modROS

(partial) ROS1 integration for FarmSim19
Apache License 2.0
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Find an alternative way to get angular velocity #6

Open tckarenchiang opened 3 years ago

tckarenchiang commented 3 years ago

Since the getAngularVelocity() in farmsim is very likely calculated wrt the world frame, we need to find another way to compute the local angular velocity.

There is a module in python to estimate the angular velocity given quaternion array and the corresponding time array at which quaternion is measured.

Not yet tested but it could be a good start.

gavanderhoorn commented 3 years ago

Could we perhaps transform the velocity back to a vehicle-local frame?