Ensure the model base link is set to the correct model #9
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- Set the link for the IMU contained in this model - the ECM foreach iterates over all model components in the world. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
khancyr
approved these changes
Jan 19, 2022
|
Thanks for the review @khancyr. The check could be relaxed to be any link in the sub-tree of the model rather than require the IMU is a child of the base link, but that's for another day. |
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This PR fixes a bug where the base model link associated with the
ArduPilotPluginmay be incorrectly associated with the wrong model, leading to an incorrect pose being published. The issue is apparent in multi-vehicle simulations.The fix is to ensure that the link is set in the same
ifclause as the IMU topic.Before fix
When running a multi-vehicle simulation, some vehicles will report incorrect position leading to poor EFK status and a loss of control of the vehicle in controlled modes.
After fix
All vehicles will report the correct position and expected EKF status. Tested with a 3-Iris quadcopter configuration.