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Optimized IMU correction is not user friendy #1516

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ojura opened this issue Feb 5, 2019 · 0 comments

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ojura commented Feb 5, 2019

Using the optimized IMU correction quaternion is not user friendly. To quote @gaschler in cartographer-project/cartographer_ros#1025:

Yes, I have copy-pasted the quaternion from Cartographer's log output and converted it to a urdf-readable roll-pitch-yaw angle using tf python and I didn't enjoy it.

The proper way to implement this feature is to change th Change the output of Cartographer (not _ros) to print urdf-compliant RPY angles in addition.
Essentially, Cartographer would suggest to the user: How about adding this small rotation between from your imu data frame to your tracking frame, on the side of the tracking frame?

ojura mentioned this issue

IMU correction quaternion option cartographer-project/cartographer_ros#1025

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