Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Mx/rotate to enu #187

Draft
wants to merge 9 commits into
base: humble
Choose a base branch
from
Draft

Mx/rotate to enu #187

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
9 commits
Select commit Hold shift + click to select a range
8bcbdf2
Remove node_ prefix.
max-sevi Jul 21, 2022
3ea7b75
Merge branch 'CCNYRoboticsLab:humble' into humble
maxpolzin Nov 16, 2023
e084d56
Update qos to sensor_data.
maxpolzin Nov 16, 2023
8ace135
Rotate to ENU.
maxpolzin Nov 16, 2023
be735cc
Update rotation.
maxpolzin Nov 16, 2023
6373e51
Use mag.
maxpolzin Nov 16, 2023
8f09a8e
+pi/2
maxpolzin Nov 16, 2023
b3a02a1
Use negative to have same as madgwick.
maxpolzin Nov 16, 2023
59580e7
Remove the minus.
maxpolzin Nov 19, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions imu_complementary_filter/launch/complementary_filter.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,9 +13,9 @@ def generate_launch_description():
parameters=[
{'do_bias_estimation': True},
{'do_adaptive_gain': True},
{'use_mag': False},
{'gain_acc': 0.01},
{'gain_mag': 0.01},
{'use_mag': True},
{'gain_acc': 0.1},
{'gain_mag': 0.1},
],
)
]
Expand Down
19 changes: 13 additions & 6 deletions imu_complementary_filter/src/complementary_filter_ros.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -69,12 +69,13 @@ ComplementaryFilterROS::ComplementaryFilterROS()
}

// Register IMU raw data subscriber.
imu_subscriber_.reset(new ImuSubscriber(this, "/imu/data_raw"));
rmw_qos_profile_t qos = rmw_qos_profile_sensor_data;
imu_subscriber_.reset(new ImuSubscriber(this, "/imu/data_raw", qos));

// Register magnetic data subscriber.
if (use_mag_)
{
mag_subscriber_.reset(new MagSubscriber(this, "/imu/mag"));
mag_subscriber_.reset(new MagSubscriber(this, "/imu/mag", qos));

sync_.reset(new Synchronizer(SyncPolicy(queue_size), *imu_subscriber_,
*mag_subscriber_));
Expand Down Expand Up @@ -241,12 +242,18 @@ void ComplementaryFilterROS::publish(ImuMsg::ConstSharedPtr imu_msg_raw)
filter_.getOrientation(q0, q1, q2, q3);
tf2::Quaternion q = hamiltonToTFQuaternion(q0, q1, q2, q3);

//Rotate orientation to report in ENU coordinate convention instead of NWU. -- Alpistinho
tf2::Quaternion qRot;
qRot.setRPY( 0, 0, M_PI/2.0 );
q = qRot*q;
q.normalize();

// Create and publish fitlered IMU message.
ImuMsg::SharedPtr imu_msg = std::make_shared<ImuMsg>(*imu_msg_raw);
imu_msg->orientation.x = q1;
imu_msg->orientation.y = q2;
imu_msg->orientation.z = q3;
imu_msg->orientation.w = q0;
imu_msg->orientation.x = q.x();
imu_msg->orientation.y = q.y();
imu_msg->orientation.z = q.z();
imu_msg->orientation.w = q.w();

imu_msg->orientation_covariance[0] = orientation_variance_;
imu_msg->orientation_covariance[1] = 0.0;
Expand Down
Loading