ros-perception / imu_pipeline Goto Github PK

Is the rotation on line 112 of tf2_sensor_msgs.h correct?

The form of that rotation is the one commonly used to rotate a point in 3D space, where x, y, z are a point in space and w=0.

I get expected results from my sensor URDF if a pure quaternion multiplication is applied here instead.

My test case is with input IMU RPY of 0,0,0 in the sensor frame, and a sensor->vehicle URDF that applies RPY of PI,0,0 , I expect output IMU data of PI,0,0 in the vehicle frame. (with the sign of pitch/yaw reversed for non-zero values).

Am I correct, or am I mis-interpreting the intent of this rotation?

Hi, I find it hard to understand how it is actually possible to transform linear acceleration and angular velocity into a different coordinate frame. As far as I understood your code, you just use the rotation from the transform. But if you consider following example

You can see despite a pure angular velocity in the base frame. The IMU experience linear displacement as well, which results in a linear acceleration from the IMU (I added several positions of the IMU to show the impact is related to the distance of the centre point of rotation). So, now I want to transform the readings from the IMU into the base frame. I would expect just an angular velocity part and linear acceleration should be zero. But if you would just rotate both vectors I would get values for lin. acceleration other than 0.
I would be very glad if you could explain my problem or point me to some resource were I could fill in my gaps.

Can you please release this package into the Noetic distribution?

Potential sources:

LGPL https://code.google.com/p/imumargalgorithm30042010sohm/
Apache v2 https://android.googlesource.com/platform/frameworks/native/+/jb-mr1.1-dev/services/sensorservice/

@mikeferguson Do you mind to release a new version ? CI is failing https://build.ros2.org/view/Rbin_uJ64/job/Rbin_uJ64__imu_transformer__ubuntu_jammy_amd64__binary/4/consoleFull

Hi

Is there any release / support on imu_pipeline in ROS2?

Best,
Samuel

I was wondering what are the release plans for melodic.

I'm not too worried about missing the groovy launch this since this is new code. One things settle down a bit, I should release it out of cycle.

can you please add licensing? preferably BSD :)
If a repository has no license, then all rights are reserved and it is not Open Source or Free. You cannot modify or redistribute such code without explicit permission from the copyright holder/s.

Thanks! @paulbovbel