Get quaternion from InertialUnit
#2424
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lukicdarkoo
added
bug
…/cyberbotics/webots into feature-inertial-unit-quaternion
Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com>
Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com>
| @@ -13,6 +13,7 @@ Released on December XXth, 2020. | |||
| - Added a new [`wb_supervisor_node_get_contact_point_node`](supervisor.md#wb_supervisor_node_get_contact_point_node) [Supervisor](supervisor.md) API function to get the node reference associated to a given contact point ([#2228](https://github.com/cyberbotics/webots/pull/2228)). | |||
| - Added two new functions to the [Camera](camera.md) API called [`wb_camera_get_exposure`](camera.md#wb_camera_get_exposure) and [`wb_camera_set_exposure`](camera.md#wb_camera_set_exposure) to retrieve and change the [Camera](camera.md) exposure ([#2363](https://github.com/cyberbotics/webots/pull/2363)). | |||
| - Added a new functionality in the [Recognition](recognition.md) node and [Camera](camera.md) API for generating segmented ground truth images ([#2199](https://github.com/cyberbotics/webots/pull/2199)). | |||
| - **Added a new [`wb_inertial_unit_get_quaternion`](inertialunit.md#wb_inertial_unit_get_quaternion) [InertialUnit](inertialunit.md) API function to get the orientation measurement represented as a quaternion ([#2424](https://github.com/cyberbotics/webots/pull/2424)).** | |||
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Why this entry is written in bold?
Does it break compatibility with previous version? if not it should not be in bold to be consistent with the rest of the ChangeLog.
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Yes, and we should also mention here in bold that a function was removed and another one was added (lookup table and noise).
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It seems this comment has still not been solved, and in addition, the removal of the lookupTable field should be mentioned too.
| @@ -21,7 +21,7 @@ InertialUnit { | |||
| field SFFloat radarCrossSection 0.0 # radar cross section of this solid | |||
| field MFColor recognitionColors [] # colors returned for this Solid by Cameras with a Recognition node | |||
| #fields specific to the InertialUnit node: | |||
| field MFVec3f lookupTable [] # empty: no interpolation | |||
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Usually, the field is actually kept in the '*.wrl' file (at the end) with the 'deprecatedField' keyword instead of 'field' so that a deprecation warning is automatically generated if needed. See for example: https://github.com/cyberbotics/webots/blob/master/resources/nodes/Camera.wrl#L46
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I am taking care of fixing the remaining issues here. |
This PR adds support to the
InertialUnitnode that allows retrieval of quaternions. This allows us to avoid gimbal-lock and to be closer to the real sensor implementation. It also fixes orientation in ROS.Physical Sensor Example
I used an MPU6050 sensor (driver implementation) as an example:
Non-related fixes
Documentation
https://cyberbotics.com/doc/reference/inertialunit?version=feature-inertial-unit-quaternion
ROS Objective
The ROS layer should be changed, so RVIz and Webots orientation match if the coordinate system is ENU:
Related Issues
cyberbotics/webots_ros#37
cyberbotics/webots_ros#38
Tasks
noiseparameter