Open s1887252 opened 4 years ago
Hi @s1887252, the IMU is adapted from the Rotors Simulator and basically reads the linear acceleration from link https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/IMUROSPlugin.cc#L183
But I recall having problem with the linear acceleration from Gazebo using the ODE engine with the quick
algorithm. I can try changing the default algorithm to world
to see if it behaves differently.
I am not sure if this is related, but gazebo recently updated its plugin to report IMU orientation from world frame. I was facing some issues in my other project due to its old behaviour in terms of body orientation vs world orientation, but this pull request claims to fix it.
As stated at this link (in a different context but about the same topic)
https://answers.ros.org/question/12616/interpretation-of-imu-data-from-the-gazebo_ros_imu-plugin/
the UUV IMU implementation (as far as the Linear Accelerations are concerned) should be not correct.
Is it really like that?