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Odometry: fixed roll/pitch ignored from transform base_link to imu link

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matlabbe
2020-04-09 19:26:00 -04:00
parent 9619b50875
commit b3d53e0833
1 changed files with 1 additions and 1 deletions
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src/OdometryROS.cpp
+1 -1
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@@ -462,7 +462,7 @@ void OdometryROS::callbackIMU(const sensor_msgs::ImuConstPtr& msg)
if(imu.orientation()[0] != 0 || imu.orientation()[1] != 0 || imu.orientation()[2] != 0 || imu.orientation()[3] != 0)
{
Transform rotation(0,0,0, imu.orientation()[0], imu.orientation()[1], imu.orientation()[2], imu.orientation()[3]);
rotation = imu.localTransform().rotation() * rotation * imu.localTransform().rotation().inverse();
rotation = Transform(0,0,imu.localTransform().theta()) * rotation * imu.localTransform().rotation().inverse();
this->reset(rotation);
float r,p,y;
rotation.getEulerAngles(r,p,y);