fix imu topic frame_id with came_name ns #2680
Closed
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Merged
|
Hi @brsbilgin I think that the current code is behaving as expected, and no need for these changes
|
| @@ -59,8 +59,8 @@ using realsense2_camera_msgs::msg::Extrinsics; | |||
| using realsense2_camera_msgs::msg::IMUInfo; | |||
|
|
|||
| #define FRAME_ID(sip) (static_cast<std::ostringstream&&>(std::ostringstream() << _camera_name << "_" << STREAM_NAME(sip) << "_frame")).str() | |||
| #define IMU_FRAME_ID (static_cast<std::ostringstream&&>(std::ostringstream() << _camera_name << "_imu_frame")).str() | |||
| #define IMU_OPTICAL_FRAME_ID (static_cast<std::ostringstream&&>(std::ostringstream() << _camera_name << "_imu_optical_frame")).str() | |||
| #define IMU_FRAME_ID (static_cast<std::ostringstream&&>(std::ostringstream() << _camera_name << "_" << "imu_frame")).str() | |||
There was a problem hiding this comment.
already working good.
why to split "_" from the rest of the const string ?
| imu_msg.angular_velocity.x = gyro_data.m_data.x(); | ||
| imu_msg.angular_velocity.y = gyro_data.m_data.y(); | ||
| imu_msg.angular_velocity.z = gyro_data.m_data.z(); | ||
| imu_msg.angular_velocity.x = -gyro_data.m_data.z(); |
There was a problem hiding this comment.
no need to swap axes, these gyro frame is in ROS CS, and IMU frame should be in same coordinates.
this is not the optical one, which we publish later in other function.
|
Closing this PR. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
The imu topic frame was published with default name space which is "camera" even i gave different name to the camera_name parameter. The frame name was always "camera_imu_optical_frame" never changed according the camera_name