xsens_driver IMU Transform

uscauv-legacy / old-uscauv-ros-pkg

ROS software used on robots made by the USC AUV Team.

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xsens_driver IMU Transform #15

Closed canondetortugas closed 11 years ago

canondetortugas commented 11 years ago

The tf transform from /world to /seabee3/sensors/imu is incorrect in that it actually publishes the inverse of this transform (i.e. rotations are expressed w.r.t the /seabee3/sensors/imu axes instead of the /world axes). Also, the handedness and orientation of the coordinate system is not the same as that of the markings on the IMU case. X and Y axes are swapped and the Z axis is left-handed.

uscauv commented 11 years ago

Fixed. Got rid of unit::convert call and explicitly used getEulerZYX instead.