Parse rpyOffset as radians #497
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Signed-off-by: Ian Chen <ichen@osrfoundation.org>
scpeters
approved these changes
Feb 24, 2021
azeey
approved these changes
Feb 24, 2021
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Looks like a remnant of when Gazebo XML (before sdformat) used degrees for rpy. Traced back to when parser_urdf.cc was added to the Gazebo code base (gazebosim/gazebo-classic@db34cd7)
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@osrf-jenkins run tests please |
1 similar comment
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@osrf-jenkins run tests please |
chapulina
approved these changes
Mar 16, 2021
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This pull request has been mentioned on Gazebo Community. There might be relevant details there: https://community.gazebosim.org/t/new-ignition-releases-2022-03-25-fortress-edifice-citadel/1343/1 |
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During fixed joint reduction, the
xyzOffsetandrpyOffsetplugin parameters are modified. It was found that therpyOffsetis actually parsed as degrees instead of radians.This created a problem when you have chained fixed joints - in the first joint reduction, the code writes out the new
rpyOffsetvector in radians, but in the second fixed joint reduction, the code parses it back as degrees.Looking at plugins in gazebo_ros_pkgs, this parameter should be in radians
Signed-off-by: Ian Chen ichen@osrfoundation.org