From 6b7db446eadb457df53a2b72cc75d4829f82cab4 Mon Sep 17 00:00:00 2001 From: Joel Moriana Date: Wed, 15 Nov 2023 10:29:51 +0100 Subject: [PATCH] fixed imu orientation --- carla_ros_bridge/src/carla_ros_bridge/imu.py | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/carla_ros_bridge/src/carla_ros_bridge/imu.py b/carla_ros_bridge/src/carla_ros_bridge/imu.py index fb1e2b0e..415d8ed2 100644 --- a/carla_ros_bridge/src/carla_ros_bridge/imu.py +++ b/carla_ros_bridge/src/carla_ros_bridge/imu.py @@ -82,17 +82,10 @@ def sensor_data_updated(self, carla_imu_measurement): imu_msg.linear_acceleration.y = -carla_imu_measurement.accelerometer.y imu_msg.linear_acceleration.z = carla_imu_measurement.accelerometer.z - quat = euler2quat(math.sin(-carla_imu_measurement.compass), math.cos(-carla_imu_measurement.compass), 0.0) + quat = euler2quat(0.0, 0.0, (math.pi / 2.0) - carla_imu_measurement.compass) imu_msg.orientation.w = quat[0] imu_msg.orientation.x = quat[1] imu_msg.orientation.y = quat[2] imu_msg.orientation.z = quat[3] - roll, pitch, yaw = quat2euler([ - imu_msg.orientation.w, - imu_msg.orientation.x, - imu_msg.orientation.y, - imu_msg.orientation.z]) - compass = -math.atan2(roll, pitch) + 2*math.pi - self.imu_publisher.publish(imu_msg)