Measure IMU orientation with respect to the world (noetic) #1057
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Report the IMU orientation from the sensor plugin with respect to the world frame. This complies with convention documented in REP 145: https://www.ros.org/reps/rep-0145.html In order to not break existing behavior, users should opt-in by adding a new SDF tag. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
jacobperron
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Mar 11, 2020
Change default value of initialOrientationAsReference to false and print deprecation warning if user explicitly sets it to true.
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Report the IMU orientation from the sensor plugin with respect to the world frame.
This complies with convention documented in REP 145: https://www.ros.org/reps/rep-0145.html
This ports #1051 from Melodic forward to Noetic and changes the default from retaining the legacy behavior (initialOrientationAsReference == true) to complying with REP 145 by default (initialOrientationAsReference == false). It also prints a deprecation warning if the user explicitly sets
initialOrientationAsReferenceto true.cc @jacobperron