HrpsysSeqStateROSBridgeImpl.cpp: sensor->localR is world coords #925
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nextage/hironxで手先にセンサをつけた時(以下のモデルを使う
https://gist.github.com/k-okada/872470bf55a6c15f8a1abc69aadc7397
)
にTFの角度がずれるという問題です.
nextage/hironx の特徴として肩の関節が15どずれているというのがあって,
それそのままセンサのtfに反映されていそうです.
で,
https://github.com/fkanehiro/openhrp3/blob/master/hrplib/hrpModel/ModelLoaderUtil.cpp#L403
で
となっていてlocalRだけど,リンク想定ではなくてベース相対というやつなんかと思っていて,
これってどこかで分かりづらくない?でも昔からこれでやっているから,というような議論があった
気がしますが,そうだと解釈てこのPRをつくりました.
どうでしょうか?