Open fnivek opened 9 years ago
Hmm, seems to work right on my machine, but I'm not running the latest Propagator.
Are you using the x-forward y-right convention? Positive torque would turn the boat right, in that case.
So... hopefully everyone is using x-forward y-left (z-up), because, you know, that's what everything else uses and is the ROS standard local coordinate system. Positive torque is CCW rotation/turning left, which contradicts what Kevin said. (EDIT: Oops, nevermind that last sentence, he was describing the problem.)
Sorry I was quite tired when I posted this issue last night I meant to say positive is CCW and negative is CW. As for x forward, y left, and z up, everything except Azi drive follows that convention. Jake positive torque should turn the boat CCW or left, and negative torque should turn the boat CW or right.
It looks like there is also a sign error in the Y direction, if azi drive really is x forward Y right z down. In your convention, when given a positive Fy it should move right. On my system a wrench with negative Fy moves right and a wrench with positive Fy moves left contrary to the x forward Y right z down convention. (Fortunately for today's test day this is actually beneficial)
ROS standards vs. nautical standards, does Poseidon supercede OSRF?
I guess not. Will fix it.
On Jun 10, 2015, at 4:54 AM, Forrest Voight notifications@github.com wrote:
So... hopefully everyone is using x-forward y-left (z-up), because, you know, that's what everything else uses and is the ROS standard local coordinate system. Positive torque is CCW rotation/turning left, which contradicts what Kevin said.
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If a positive (clockwise) torque is given azi drive produces a negative torque (counterclockwise). I have temporarily fixed it with this commit but Jake you may want to look into your math and fix it appropriately.