Attempt to correct direction of co-ordintate system Axes.

See this ENSTABretagneRobotics#43 for more details.
subodh-malgonde · Jul 20, 2018 · 0c0aa56 · 0c0aa56
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commit 0c0aa56
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/.gitignore b/.gitignore
@@ -1,2 +1,4 @@
 *~
 config/my_razor.yaml
+.idea/
+
diff --git a/nodes/imu_node.py b/nodes/imu_node.py
@@ -239,9 +239,9 @@ def reconfig_callback(config, level):
         # Publish message
         # AHRS firmware accelerations are negated
         # This means y and z are correct for ROS, but x needs reversing
-        imuMsg.linear_acceleration.x = -float(words[3]) * accel_factor
-        imuMsg.linear_acceleration.y = float(words[4]) * accel_factor
-        imuMsg.linear_acceleration.z = float(words[5]) * accel_factor
+        imuMsg.linear_acceleration.x = float(words[3]) * accel_factor
+        imuMsg.linear_acceleration.y = -float(words[4]) * accel_factor
+        imuMsg.linear_acceleration.z = -float(words[5]) * accel_factor
 
         imuMsg.angular_velocity.x = float(words[6])
         #in AHRS firmware y axis points right, in ROS y axis points left (see REP 103)