Measure IMU orientation with respect to world (ros2) #1064
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I guess we need to update the CI branch for Ubuntu Focal. Maybe we can add a CI branch |
ping @chapulina |
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Sorry, this comment fell through the cracks. A new CI branch sounds good to me. It would be good to document it here |
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I branched from ros2/ci@gazebo_ros_pkgs and rebased on master. It looks like we don't need a separate branch for Focal since the master branch supports Bionic and Focal. @chapulina We could instead just rebase the Besides that, we're blocked by cv_bridge compiling with OpenCV 4 on Focal. Here's a proposed fix we can wait on: ros-perception/vision_opencv#324 |
SGTM |
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I've updated the |
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does this just need to be rebased to get working CI? |
No, you'd need to follow the Next-turtle procedure here: https://github.com/ros-simulation/gazebo_ros_pkgs/wiki/ROS-2-CI#next-turtle |
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. Co-authored-by: Jacob Perron <jacob@openrobotics.org>
Change default value of initial_orientation_as_reference to false and print deprecation warning if user explicitly sets it to true.
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I just rebased on ros2 to resolve conflicts |
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Linux: |
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@jacobperron can you restart the builds if the changes in 02aa68b look right to you? |
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@jacobperron I'll let you interpret the results of that CI job |
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Looks like the result matches the |
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 #1058 from eloquent forward to ros2 (foxy) and changes the default from retaining the legacy behavior (
initial_orientation_as_reference== true) to complying with REP 145 by default (initial_orientation_as_reference== false). It also prints a deprecation warning if the user explicitly setsinitial_orientation_as_referenceto true. This PR is similar to #1057 which ported from melodic -> noetic.