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Measure IMU orientation with respect to the world (noetic) #1057

Merged
merged 2 commits into from
Mar 25, 2020
Merged

Measure IMU orientation with respect to the world (noetic) #1057

merged 2 commits into from
Mar 25, 2020

Commits on Mar 11, 2020

  1. Measure IMU orientation with respect to world (ros-simulation#1051) 

    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 @scpeters
    jacobperron authored and scpeters committed Mar 11, 2020
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Commits on Mar 25, 2020

  1. IMU sensor: comply with REP 145 by default 

    Change default value of initialOrientationAsReference to false
and print deprecation warning if user explicitly sets it to true.
    @scpeters
    scpeters committed Mar 25, 2020
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