Merge pull request #32 from RosProBridge/hotfix/imu-rotation

Sh1co · web-flow · commit 03db622acfd0 · 2025-03-07T09:58:19.000+03:00
Fix IMU rotation conversion
diff --git a/Runtime/Tx/ImuTx.cs b/Runtime/Tx/ImuTx.cs
@@ -81,7 +81,7 @@ protected override ProBridge.ProBridge.Msg GetMsg(TimeSpan ts)
                 data.orientation = orientationWithNoise.ToRos();
             }            
             
-            data.angular_velocity = _angularVelocity.ToRos();
+            data.angular_velocity = _angularVelocity.ToRosAngular();
             data.linear_acceleration = acceleration.ToRos();
             data.orientation = transform.rotation.ToRos();
 

Original file line number	Diff line number	Diff line change
`@@ -81,7 +81,7 @@ protected override ProBridge.ProBridge.Msg GetMsg(TimeSpan ts)`
`81`	`81`	`data.orientation = orientationWithNoise.ToRos();`
`82`	`82`	`}`
`83`	`83`
`84`		`- data.angular_velocity = _angularVelocity.ToRos();`
	`84`	`+ data.angular_velocity = _angularVelocity.ToRosAngular();`
`85`	`85`	`data.linear_acceleration = acceleration.ToRos();`
`86`	`86`	`data.orientation = transform.rotation.ToRos();`
`87`	`87`