Fix gimbal imu sensors intefering with each other #549
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The gimbal imu sensors would interfere with each other if there were more than one imu sensor with the same name. Getting the sensor pointer with the fully scoped name allows the simulation to have multiple instances of vehicle with a gimbal
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RyosukeMatsushima
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Jun 21, 2022
The gimbal imu sensors would interfere with each other if there were more than one imu sensor with the same name. Getting the sensor pointer with the fully scoped name allows the simulation to have multiple instances of vehicle with a gimbal
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The gimbal imu sensors would interfere with each other if there were more than one vehicle with a gimbal.
This was because the
GetSensormethod was using a unscoped name, therefore was taking one of the gimbal imu sensors from any of the vehicles that exists in the world.This PR solves this problem by getting the sensor pointer with a fully scoped name which allows the simulation to have multiple instances of vehicles with a gimbal
Tests
Tested in SITL gazebo on the typhoon_h480 and the gimbal was controlled through mavros.
Additional Context
Fixes #540