Transform gravitational vector to IMU frame before removing acceleration #639
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ayrton04
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Apr 12, 2021
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Would you mind making sure this gets PR-ed into the |
I made a new PR (#649) for ros2 |
ayrton04
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Jun 3, 2021
efernandez
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Oct 12, 2021
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Hi,
When the IMU message does not contain an orientation, the gravitational vector should be transformed to the IMU frame before correcting for the gravitational accelerations.
Currently it is only corrected for the current attitude (here), but not for the transformation between
base_linkand theimu_frame. Thereto this is only an issue when these two frames have different orientations.This pull requests proposes a solution to this.