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uuvsimulator / uuv_simulator

Gazebo/ROS packages for underwater robotics simulation
https://uuvsimulator.github.io/
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Corrected world_ned transformation from world #438

Closed ViVittori closed 3 years ago

ViVittori commented 3 years ago

Dear UUV Sim devs,

Could you please review this pull request on the issue below?

Issue: the generated data of the PoseGTROSPlugin in its NED reference frame is not correct.

Fix: This fix removes an extra rotation defined in the tf conversion from world to world_ned .

Detailed explanations: I have corrected what I suppose to be a typo in the publish_world_ned_frame.launch file as well as some little modifications in the model.sdf file of the ned_frame.

The world_ned generated by the static_transform_publisher in publish_world_ned_frame.launch possessed an extra rotation around the yaw axis of PI/2 that is superfluous as well as creating wrong data outputs for the PoseGTROSPlugin in its NED form.

As for the ned_frame model for Gazebo it is the same extra rotation that needs to be removed and the according changes for the visuals adapted accordingly.

Best regards,

Vincent VITTORI

ViVittori commented 3 years ago

Closed for wrong understanding of world and local reference frames. This was never an issue to begin with as the code is properly converting between the world frames