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Mx/rotate to enu #187

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Mx/rotate to enu #187

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8bcbdf2
Remove node_ prefix.
max-sevi Jul 21, 2022
3ea7b75
Merge branch 'CCNYRoboticsLab:humble' into humble
maxpolzin Nov 16, 2023
e084d56
Update qos to sensor_data.
maxpolzin Nov 16, 2023
8ace135
Rotate to ENU.
maxpolzin Nov 16, 2023
be735cc
Update rotation.
maxpolzin Nov 16, 2023
6373e51
Use mag.
maxpolzin Nov 16, 2023
8f09a8e
+pi/2
maxpolzin Nov 16, 2023
b3a02a1
Use negative to have same as madgwick.
maxpolzin Nov 16, 2023
59580e7
Remove the minus.
maxpolzin Nov 19, 2023
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6 changes: 3 additions & 3 deletions imu_complementary_filter/launch/complementary_filter.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,9 +13,9 @@ def generate_launch_description():
parameters=[
{'do_bias_estimation': True},
{'do_adaptive_gain': True},
{'use_mag': False},
{'gain_acc': 0.01},
{'gain_mag': 0.01},
{'use_mag': True},
{'gain_acc': 0.1},
{'gain_mag': 0.1},
],
)
]
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19 changes: 13 additions & 6 deletions imu_complementary_filter/src/complementary_filter_ros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,12 +69,13 @@ ComplementaryFilterROS::ComplementaryFilterROS()
}

// Register IMU raw data subscriber.
imu_subscriber_.reset(new ImuSubscriber(this, "/imu/data_raw"));
rmw_qos_profile_t qos = rmw_qos_profile_sensor_data;
imu_subscriber_.reset(new ImuSubscriber(this, "/imu/data_raw", qos));

// Register magnetic data subscriber.
if (use_mag_)
{
mag_subscriber_.reset(new MagSubscriber(this, "/imu/mag"));
mag_subscriber_.reset(new MagSubscriber(this, "/imu/mag", qos));

sync_.reset(new Synchronizer(SyncPolicy(queue_size), *imu_subscriber_,
*mag_subscriber_));
Expand Down Expand Up @@ -241,12 +242,18 @@ void ComplementaryFilterROS::publish(ImuMsg::ConstSharedPtr imu_msg_raw)
filter_.getOrientation(q0, q1, q2, q3);
tf2::Quaternion q = hamiltonToTFQuaternion(q0, q1, q2, q3);

//Rotate orientation to report in ENU coordinate convention instead of NWU. -- Alpistinho
tf2::Quaternion qRot;
qRot.setRPY( 0, 0, M_PI/2.0 );
q = qRot*q;
q.normalize();

// Create and publish fitlered IMU message.
ImuMsg::SharedPtr imu_msg = std::make_shared<ImuMsg>(*imu_msg_raw);
imu_msg->orientation.x = q1;
imu_msg->orientation.y = q2;
imu_msg->orientation.z = q3;
imu_msg->orientation.w = q0;
imu_msg->orientation.x = q.x();
imu_msg->orientation.y = q.y();
imu_msg->orientation.z = q.z();
imu_msg->orientation.w = q.w();

imu_msg->orientation_covariance[0] = orientation_variance_;
imu_msg->orientation_covariance[1] = 0.0;
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