frobolab/frobomind

FroboMind Software Platform for Field Robots

frobomind's Issues

NED to ENU conversion of IMU Message Type

frobomind/fmSensors/global_sensing/imu/vectornav_vn100/src/vectornav_vn100_node.cpp

Lines 113 to 135 in 389f7e6

	if(enu_selected)
	{
	// ENU ORIENTATION
	// swap x and y and negate z
	imu_msg.orientation.y = boost::lexical_cast<float>(*tok_iter++);
	imu_msg.orientation.x = boost::lexical_cast<float>(*tok_iter++);
	imu_msg.orientation.z = - boost::lexical_cast<float>(*tok_iter++);
	imu_msg.orientation.w = boost::lexical_cast<float>(*tok_iter++);
	tok_iter++; //skip magnetometer
	tok_iter++;
	tok_iter++;
	// acceleration swap x y negate z
	imu_msg.linear_acceleration.y = boost::lexical_cast<float>(*tok_iter++);
	imu_msg.linear_acceleration.x = boost::lexical_cast<float>(*tok_iter++);
	imu_msg.linear_acceleration.z = - boost::lexical_cast<float>(*tok_iter++);
	// angular rates swap x y and negate z
	imu_msg.angular_velocity.y = boost::lexical_cast<float>(*tok_iter++);
	imu_msg.angular_velocity.x = boost::lexical_cast<float>(*tok_iter++);
	imu_msg.angular_velocity.z = - boost::lexical_cast<float>(*tok_iter++);
	}

When modifying an IMU message from the NED to ENU world reference frame, isn't it incorrect to change the linear acceleration and angular velocity terms since these are specified relative to the local sensor frame rather than relative to the world frame? It is correct to change the orientation term since this defines the transformation to the world frame, but I believe the linear acceleration and angular velocity terms are not impacted by a change in the world reference frame.

frobomind_make fails at line 143 during cut

Fresh clone of frobomind and frobit_demo on Netrunner 14.2 (Ubuntu 14.04 derivative).
$ cd <catkin_workspace>/src
$ frobomind/frobomind_make -i /frobit_demo
Produces
frobomind/frobomind_make: command substitution: line 143: syntax error near unexpected expression ")"
frobomind/frobomind_make: command substitution: line 143: 'echo $APP | cut -c1-1)'
No proper application defined: /frobit_demo

cut is version 8.21

I don't think the ")" is supposed to be in the cut expression on line 143 of frobomind_make.

However, this script did work for me before reinstallation of linux.

As far as I understand, the line command echo $APP | cut -c1-1) is supposed to produce a "/" for frobomind applications. However, it only works for me if I remove the parenthesis echo $APP | cut -c1-1.