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fix!: correct imu orientation #45

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merged 1 commit into from
Aug 26, 2024
Merged

fix!: correct imu orientation #45

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12 changes: 12 additions & 0 deletions aichallenge/workspace/src/aichallenge_submit/imu_corrector/src/imu_corrector_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,17 @@ geometry_msgs::msg::Vector3 transformVector3(
return vec_stamped_transformed.vector;
}

geometry_msgs::msg::Quaternion transformQuaternion(
const geometry_msgs::msg::Quaternion & quat, const geometry_msgs::msg::TransformStamped & transform)
{
geometry_msgs::msg::QuaternionStamped quat_stamped;
quat_stamped.quaternion = quat;

geometry_msgs::msg::QuaternionStamped quat_stamped_transformed;
tf2::doTransform(quat_stamped, quat_stamped_transformed, transform);
return quat_stamped_transformed.quaternion;
}

namespace imu_corrector
{
ImuCorrector::ImuCorrector(const rclcpp::NodeOptions & node_options)
Expand Down Expand Up @@ -103,6 +114,7 @@ void ImuCorrector::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_m
sensor_msgs::msg::Imu imu_msg_base_link;
imu_msg_base_link.header.stamp = imu_msg_ptr->header.stamp;
imu_msg_base_link.header.frame_id = output_frame_;
imu_msg_base_link.orientation = transformQuaternion(imu_msg.orientation, *tf_imu2base_ptr);
imu_msg_base_link.linear_acceleration =
transformVector3(imu_msg.linear_acceleration, *tf_imu2base_ptr);
imu_msg_base_link.linear_acceleration_covariance =
Expand Down