Possible issue with Euler angle calculation (Yaw and roll).
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mzhouURI commented
Describe the bug
When setting use_enu_frame to true, we discover the Yaw angle will decrease when placed sensor with z-axis pointing downward and rotate the sensor counter-clockwise.
I also found in this placement, the roll angle is reporting zero. but in ENU should it report 180 deg? Or if roll is reporting 0 deg the counter clockwise rotation should result in yaw angle increase.
To Reproduce
Steps to reproduce the behavior:
- Launch Node with command
roslaunch microstrain_inertial_driver microstrain.launch
Expected behavior
- Visualize yaw angle using
plotjuggler
. - place sensor with z-axis pointing down and turn it counter clockwise, yaw angle will decrease, roll report 0 deg
- place sensor with z-axis pointing up and turn it counter clockwise, yaw angle will increase, roll report 180deg
Environment (please complete the following information):
- OS: ubuntu20.04
- Architecture: x86_64
- ROS Version: noetic
- Version: installed using
sudo apt install ros-noetic-microstrain-inertial-drive
- Sensor(s): 3DM-GX5-25
Modifications
I believe is the Euler angle calculation may be wrong?
Launch Parameters
standard param used in the launch file.
Additional context