HIL Plugin

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This PR fixes some of @mzahana #636 PR. @vooon can you please review it?

[mzahana]

Can somebody who worked on HIL with jMAVSim step in and help here as that setup is supposed to be working?
That can help finalizing this PR faster.

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@bkueng, @julianoes, @v01d, @kd0aij maybe you can lend an hand here please? This is ROS but also HIL related, the problem seems to be related to some rotation, probably coming from the sim side (as the rotations and frame transforms were already used and tested on mavros side - I can assume it may be a misconception about body frame transforms and wrt on the V-REP script). @mzahana can you please post here your latest Lua script of V-REP so it can be evaluated by all?

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@mzahana did you get a time frame to test V-REP plugin again and solve the problem?

[mzahana]

Unfortunately, not yet. And it does not seem to be soon as I have several deadlines that are eating my whole time. Maybe by the end of this month or early next month, I will have some time to debug.

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On May 1, 2017 9:43 PM, "Nuno Marques" ***@***.***> wrote: @mzahana <https://github.com/mzahana> did you get a time frame to test V-REP plugin again and solve the problem? — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#684 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AIZT64oTzccXFz17yATtCOzm8Mak6DChks5r1ie6gaJpZM4Mx2Hi> .

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@mzahana something interesting about the supposed problem you were getting on the vehicle facing East - you can read on ROS REP 103:

By the right hand rule, the yaw component of orientation increases as the child frame rotates counter-clockwise, and for geographic poses, yaw is zero when pointing east.

So this is not a problem at all, more like a question of convention which results from applying the transforms from NED<->ENU and aircraft<->base_link.

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More:

This requires special mention only because it differs from a traditional compass bearing, which is zero when pointing north and increments clockwise. Hardware drivers should make the appropriate transformations before publishing standard ROS messages.

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I tested this on V-REP and seemed consistent after some V-REP mods on the Lua script. I'm merging it now, having pendent adding documentation to the PX4 Devguide on how to setup the V-REP model (if someone wants to do that for Ardupilot let me know and I can put it available to it also).
Also, I'll be working on interfacing this with Gazebo, which will can also provide some improvements to the HIL interface of rotors_simulator. Will have it available soon.