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Robot doesn't localize properly with rotated IMU #2

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maxpolzin opened this issue Sep 4, 2023 · 1 comment
Open

Robot doesn't localize properly with rotated IMU #2

maxpolzin opened this issue Sep 4, 2023 · 1 comment

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@maxpolzin
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maxpolzin commented Sep 4, 2023 •
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When the IMU is rotated, e.g. 90 degrees yawed, the robot_localization is not working.
When commanded to move forward, the robot_localization output does indicate that the robot is moving sideways.

Screencast.from.09-04-2023.03.34.54.PM.webm
@maxpolzin
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maxpolzin commented Sep 4, 2023 •
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That was a tough one. When the orientation_reference_frame tag is not provided, see art-e-fact@7f4121b, the simulated IMU returns measurements relative to its first measurement.

https://github.com/gazebosim/gz-sim/blob/2dbcc6c872a204e44f4dd3e3be8c44a98b04452f/src/systems/imu/Imu.cc#L228

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@maxpolzin