Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Corrected FP_IMUH frame #27

Merged
merged 4 commits into from
Jun 19, 2023
Merged
Show file tree
Hide file tree
Changes from all commits
Commits
File filter

Filter by extension

Filter by extension

Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions README.md
Original file line number Diff line number Diff line change
Expand Up @@ -188,7 +188,7 @@ The output is published on the following:
| `ECEF-->FP_POI` | `/tf` | `ODOMETRY` | as configured on web-interface |
| `ECEF-->FP_ENU` | `/tf` | `ODOMETRY` | as configured on web-interface |
| `ECEF-->FP_ENU0` | `/tf` | `ODOMETRY` | as configured on web-interface |
| `FP_POI-->FP_IMU_HORIZONTAL` | `/tf` | `ODOMETRY` | 200Hz |
| `FP_POI-->FP_IMUH` | `/tf` | `ODOMETRY` | 200Hz |
| `FP_POI-->FP_VRTK` | `/tf_static` | `TF_POI_VRTK` | 1Hz |
| `FP_VRTK-->FP_CAM` | `/tf_static` | `TF_VRTK_CAM` | 1Hz |

Expand All @@ -197,7 +197,7 @@ The output is published on the following:
```mermaid
graph TD;
ECEF-->FP_POI-->FP_VRTK-->FP_CAM
FP_POI-->FP_IMU_HORIZONTAL
FP_POI-->FP_IMUH
ECEF-->FP_ENU
ECEF-->FP_ENU0
```
Expand All @@ -214,7 +214,7 @@ _Please note that the corresponding messages also has to be selected on the Fixp
| **FP_ENU** | The **local** East-North-Up coordinate frame with the origin at the same location as FP_POI. |
| **FP_ENU0** | The **global fixed** East-North-Up coordinate frame with the origin at the first received ODOMETRY position. Needed for visualization in Rviz. |
| **FP_CAM** | The camera coordinate frame of the V-RTK. |
| **FP_IMU_HORIZONTAL** | A local horizontal frame with the origin at the same location as FP_POI. This frame is a rough estimate determined by the IMU alone. |
| **FP_IMUH** | A local horizontal frame with the origin at the same location as FP_POI. This frame is a rough estimate determined by the IMU alone. |

## Input Wheelspeed through the driver

Expand Down
2 changes: 1 addition & 1 deletion fixposition_driver_ros1/src/fixposition_driver_node.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -136,7 +136,7 @@ void FixpositionDriverNode::RegisterObservers() {
// TF Observer Lambda
geometry_msgs::TransformStamped tf;
TfDataToMsg(data, tf);
if (tf.child_frame_id == "FP_IMU_HORIZONTAL" && tf.header.frame_id == "FP_POI") {
if (tf.child_frame_id == "FP_IMUH" && tf.header.frame_id == "FP_POI") {
br_.sendTransform(tf);

// Publish Pitch Roll based on IMU only
Expand Down
4 changes: 2 additions & 2 deletions fixposition_driver_ros2/rviz/fixposition_driver_ros2.rviz
Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ Visualization Manager:
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: FP_IMU_HORIZONTAL
Reference Frame: FP_IMUH
Value: false
- Angle Tolerance: 0.10000000149011612
Class: rviz_default_plugins/Odometry
Expand Down Expand Up @@ -149,7 +149,7 @@ Visualization Manager:
Value: true
FP_ENU0:
Value: true
FP_IMU_HORIZONTAL:
FP_IMUH:
Value: true
FP_POI:
Value: true
Expand Down
2 changes: 1 addition & 1 deletion fixposition_driver_ros2/src/fixposition_driver_node.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -163,7 +163,7 @@ void FixpositionDriverNode::RegisterObservers() {
// TF Observer Lambda
geometry_msgs::msg::TransformStamped tf;
TfDataToMsg(data, tf);
if (tf.child_frame_id == "FP_IMU_HORIZONTAL" && tf.header.frame_id == "FP_POI") {
if (tf.child_frame_id == "FP_IMUH" && tf.header.frame_id == "FP_POI") {
br_->sendTransform(tf);

// Publish Pitch Roll based on IMU only
Expand Down