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[estimation][imu] pubish frame id in imu ros converted topic #710

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[estimation][imu] pubish frame id in imu ros converted topic #710

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d8a7017
[estimation] publish imu frame in ros_converted topic
sugikazu75 Nov 28, 2024
8adefc0
[estimation] implement imu coordinate transformer
sugikazu75 Nov 28, 2024
ddaac02
[estimation] fix name of field in imu message from spinal
Apr 23, 2025
011e944
Revert "[estimation] fix name of field in imu message from spinal"
sugikazu75 Dec 30, 2025
0c54afd
Revert "[estimation] implement imu coordinate transformer"
sugikazu75 Dec 30, 2025
498a481
Merge remote-tracking branch 'origin/master' into PR/estimation/lio/i…
sugikazu75 Dec 30, 2025
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1 change: 1 addition & 0 deletions aerial_robot_estimation/include/aerial_robot_estimation/state_estimation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -441,6 +441,7 @@ namespace aerial_robot_estimation
}

inline uint8_t getUnhealthLevel() { return unhealth_level_; }
std::string getTFPrefix() {return tf_prefix_;}

const vector<boost::shared_ptr<sensor_plugin::SensorBase> >& getImuHandlers() const { return imu_handlers_;}
const vector<boost::shared_ptr<sensor_plugin::SensorBase> >& getAltHandlers() const { return alt_handlers_;}
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1 change: 1 addition & 0 deletions aerial_robot_estimation/src/sensor/imu.cpp
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Expand Up @@ -422,6 +422,7 @@ namespace sensor_plugin
{
sensor_msgs::Imu imu_data;
imu_data.header.stamp = imu_stamp_;
imu_data.header.frame_id = tf::resolve(estimator_->getTFPrefix(), robot_model_->getBaselinkName());
tf::Quaternion q;
raw_rot_.getRotation(q);
tf::quaternionTFToMsg(q, imu_data.orientation);
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