Fix frame conventions in AHRS

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
osrf · Feb 15, 2022 · 644bea1 · 644bea1
1 parent 790fb65
commit 644bea1
Showing 1 changed file with 11 additions and 3 deletions.
diff --git a/lrauv_description/models/tethys_equipped/model.sdf b/lrauv_description/models/tethys_equipped/model.sdf
@@ -7,7 +7,7 @@
   <model name="tethys">
     <include merge="true">
       <!-- align with NED (face North) -->
-      <pose degrees="true">0 0 0   0 0 -90</pose>
+      <pose degrees="true">0 0 0 0 0 -90</pose>
       <uri>tethys</uri>
 
       <!-- Sensors -->
@@ -90,7 +90,11 @@
           <!--IMU in a Sparton AHRS-M2 -->
           <always_on>1</always_on>
           <!-- Flip body frame to match FSK frame convention -->
-          <pose degrees="true">0 0 0 180 0 0</pose>
+          <!--
+              Also account for model being rotated 180 degrees
+              See https://github.com/osrf/lrauv/issues/80.
+          -->
+          <pose degrees="true">0 0 0 180 0 180</pose>
           <orientation_reference_frame>
             <localization>NED</localization>
           </orientation_reference_frame>
@@ -177,7 +181,11 @@
           <always_on>1</always_on>
           <update_rate>10</update_rate>
           <!-- Flip body frame to match FSK frame convention -->
-          <pose degrees="true">0 0 0 180 0 0</pose>
+          <!--
+              Also account for model being rotated 180 degrees
+              See https://github.com/osrf/lrauv/issues/80.
+          -->
+          <pose degrees="true">0 0 0 180 0 180</pose>
           <topic>/model/tethys/ahrs/magnetometer</topic>
           <plugin filename="ignition-gazebo-magnetometer-system"
                   name="ignition::gazebo::systems::Magnetometer"/>