Uuv_simulator: IMU ์„ ํ˜• ๊ฐ€์†์ด ์˜ฌ๋ฐ”๋ฅด๊ฒŒ ์ž‘๋™ํ•˜์ง€ ์•Š์Œ

์— ๋งŒ๋“  2020๋…„ 04์›” 02์ผ  ยท  2์ฝ”๋ฉ˜ํŠธ  ยท  ์ถœ์ฒ˜: uuvsimulator/uuv_simulator

์ด ๋งํฌ์— ๋ช…์‹œ๋œ ๋ฐ”์™€ ๊ฐ™์ด (๋‹ค๋ฅธ ๋งฅ๋ฝ์—์„œ ๊ทธ๋Ÿฌ๋‚˜ ๋™์ผํ•œ ์ฃผ์ œ์— ๋Œ€ํ•ด)

https://answers.ros.org/question/12616/interpretation-of-imu-data-from-the-gazebo_ros_imu-plugin/

UUV IMU ๊ตฌํ˜„(์„ ํ˜• ๊ฐ€์†์— ๊ด€ํ•œ ํ•œ)์€ ์˜ฌ๋ฐ”๋ฅด์ง€ ์•Š์•„์•ผ ํ•ฉ๋‹ˆ๋‹ค.

์ •๋ง ๊ทธ๋Ÿฐ๊ฐ€์š”?

picture s1887252

๋ชจ๋“  2 ๋Œ“๊ธ€

์•ˆ๋…•ํ•˜์„ธ์š” @ s1887252 , IMU๋Š” https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/IMUROSPlugin.cc#L183 ์—์„œ ์„ ํ˜• ๊ฐ€์†์„ ์ฝ์Šต๋‹ˆ๋‹ค.
๊ทธ๋Ÿฌ๋‚˜ quick ์•Œ๊ณ ๋ฆฌ์ฆ˜๊ณผ ํ•จ๊ป˜ ODE ์—”์ง„์„ ์‚ฌ์šฉํ•˜๋Š” Gazebo์˜ ์„ ํ˜• ๊ฐ€์†์— ๋ฌธ์ œ๊ฐ€ ์žˆ์—ˆ๋˜ ๊ฒƒ์„ ๊ธฐ์–ตํ•ฉ๋‹ˆ๋‹ค. ๊ธฐ๋ณธ ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ world ๋กœ ๋ณ€๊ฒฝํ•˜์—ฌ ๋‹ค๋ฅด๊ฒŒ ๋™์ž‘ํ•˜๋Š”์ง€ ํ™•์ธํ•  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.

musamarcusso picture musamarcusso ์— 2020๋…„ 05์›” 23์ผ
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์ด๊ฒƒ์ด ๊ด€๋ จ์ด ์žˆ๋Š”์ง€ ํ™•์‹คํ•˜์ง€ ์•Š์ง€๋งŒ ์ „๋ง๋Œ€๋Š” ์ตœ๊ทผ ์„ธ๊ณ„ ํ”„๋ ˆ์ž„์—์„œ IMU ๋ฐฉํ–ฅ์„ ๋ณด๊ณ ํ•˜๋„๋ก ํ”Œ๋Ÿฌ๊ทธ์ธ์„ ์—…๋ฐ์ดํŠธํ–ˆ์Šต๋‹ˆ๋‹ค. ๋ชธ ๋ฐฉํ–ฅ ๋Œ€ ์„ธ๊ณ„ ๋ฐฉํ–ฅ๊ณผ ๊ด€๋ จํ•˜์—ฌ ์ด์ „ ๋™์ž‘์œผ๋กœ ์ธํ•ด ๋‹ค๋ฅธ ํ”„๋กœ์ ํŠธ์—์„œ ๋ช‡ ๊ฐ€์ง€ ๋ฌธ์ œ์— ์ง๋ฉดํ–ˆ์ง€๋งŒ ์ด pull ์š”์ฒญ์€ ๋ฌธ์ œ๋ฅผ ํ•ด๊ฒฐํ•œ๋‹ค๊ณ  ์ฃผ์žฅํ•ฉ๋‹ˆ๋‹ค.

https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1051

HashirZahir picture HashirZahir ์— 2020๋…„ 05์›” 24์ผ
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์ด ํŽ˜์ด์ง€๊ฐ€ ๋„์›€์ด ๋˜์—ˆ๋‚˜์š”?
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