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Reverse order of rotation offset (rpyOffset) calculation in p3d and imu plugins #1241

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Reverse order of rotation offset (rpyOffset) calculation in p3d and imu plugins #1241

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3d1acc2
reverse order of rotation offset calculation
iche033 Feb 26, 2021
fca594d
add version check
iche033 Mar 3, 2021
6fcb938
use corrected offsets
iche033 Jul 16, 2021
ef708a3
fixes
iche033 Jul 16, 2021
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2 changes: 1 addition & 1 deletion gazebo_plugins/src/gazebo_ros_imu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -244,7 +244,7 @@ void GazeboRosIMU::UpdateChild()
rot = pose.Rot();

// apply rpy offsets
rot = this->offset_.Rot()*rot;
rot = rot*this->offset_.Rot();
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Would it be possible to condition this based on what version of libsdformat is being used?

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added version check in fca594d. It assumes that the release will be made in sdformat 6.3.0 and forward ported though. So we'll need to merge and release the sdformat pull request first

rot.Normalize();

// get Rates
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2 changes: 1 addition & 1 deletion gazebo_plugins/src/gazebo_ros_p3d.cpp
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Expand Up @@ -292,7 +292,7 @@ void GazeboRosP3D::UpdateChild()
// apply xyz offsets and get position and rotation components
pose.Pos() = pose.Pos() + this->offset_.Pos();
// apply rpy offsets
pose.Rot() = this->offset_.Rot()*pose.Rot();
pose.Rot() = pose.Rot()*this->offset_.Rot();
pose.Rot().Normalize();

// compute accelerations (not used)
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