Latest ENU Standard.

README.md

@@ -9,14 +9,17 @@ Install and Configure ROS Package
 ---------------------------------
 1) Install dependencies:
 
-	$ sudo apt-get install python-visual
+	``$ sudo apt-get install python-visual``
 
 2) Download code:
 
-	$ cd ~/catkin_workspace/src
-	$ git clone https://github.com/KristofRobot/razor_imu_9dof.git
-	$ cd ..
-	$ catkin_make
+	``$ cd ~/catkin_workspace/src``
+
+	``$ git clone https://github.com/blmhemu/razor_imu_9dof.git``
+
+	``$ cd ..``
+
+	``$ catkin_make``
 
 
 Install Arduino firmware
@@ -76,6 +79,26 @@ Publisher only with diagnostics:
 
 	$ roslaunch razor_imu_9dof razor-display.launch
 
+Conventions
+-----------
+
+The IMU follows ENU Convention.
+
+East  = 0 degree
+
+North = 90 degree
+
+West  = 180 degree / -180 degree
+
+South = -90 degree
+
+Accelerations and angular accelerations are also taken care of. (Right Hand Rule)
+
+This standard is in lines with ROS REP 105. This driver can be used for direct interfacing with robot_localization node.
+
+The setup used is shown below for reference
+
+![alt text](https://raw.githubusercontent.com/blmhemu/razor_imu_9dof/indigo-devel/razor.png)
 
 Calibrate
 ---------

nodes/display_3D_visualization.py

@@ -73,14 +73,14 @@ def shutdown_hook():
 label(pos=(-0.5,0.6,0),text="Roll (degrees / radians)",box=0,opacity=0)
 label(pos=(0.5,0.6,0),text="Pitch (degrees / radians)",box=0,opacity=0)
 label(pos=(0.0,0.02,0),text="Yaw (degrees / radians)",box=0,opacity=0)
-label(pos=(0.0,-0.16,0),text="N",box=0,opacity=0,color=color.yellow)
-label(pos=(0.0,-0.64,0),text="S",box=0,opacity=0,color=color.yellow)
-label(pos=(-0.24,-0.4,0),text="W",box=0,opacity=0,color=color.yellow)
-label(pos=(0.24,-0.4,0),text="E",box=0,opacity=0,color=color.yellow)
-label(pos=(0.18,-0.22,0),height=7,text="NE",box=0,color=color.yellow)
-label(pos=(-0.18,-0.22,0),height=7,text="NW",box=0,color=color.yellow)
-label(pos=(0.18,-0.58,0),height=7,text="SE",box=0,color=color.yellow)
-label(pos=(-0.18,-0.58,0),height=7,text="SW",box=0,color=color.yellow)
+label(pos=(0.0,-0.16,0),text="E",box=0,opacity=0,color=color.yellow)
+label(pos=(0.0,-0.64,0),text="W",box=0,opacity=0,color=color.yellow)
+label(pos=(-0.24,-0.4,0),text="N",box=0,opacity=0,color=color.yellow)
+label(pos=(0.24,-0.4,0),text="S",box=0,opacity=0,color=color.yellow)
+label(pos=(0.18,-0.22,0),height=7,text="SE",box=0,color=color.yellow)
+label(pos=(-0.18,-0.22,0),height=7,text="NE",box=0,color=color.yellow)
+label(pos=(0.18,-0.58,0),height=7,text="SW",box=0,color=color.yellow)
+label(pos=(-0.18,-0.58,0),height=7,text="NW",box=0,color=color.yellow)
 
 rollLabel = label(pos=(-0.5,0.52,0),text="-",box=0,opacity=0,height=12)
 pitchLabel = label(pos=(0.5,0.52,0),text="-",box=0,opacity=0,height=12)
@@ -94,7 +94,7 @@ def shutdown_hook():
 
 # Main scene objects
 scene.select()
-# Reference axis (x,y,z) - using ROS conventions (REP 103) - z is up, y left (west, 90 deg), x is forward (north, 0 deg)
+# Reference axis (x,y,z) - using ROS conventions (REP 103) - z is up, y left (north, 90 deg), x is forward (east, 0 deg)
 # In visual, z runs up, x runs forward, y runs left (see scene.up command earlier) 
 # So everything is good
 arrow(color=color.green,axis=(1,0,0), shaftwidth=0.04, fixedwidth=1)

nodes/imu_node.py

@@ -225,16 +225,17 @@ def reconfig_callback(config, level):
     words = string.split(line,",")    # Fields split
     if len(words) > 2:
         #in AHRS firmware z axis points down, in ROS z axis points up (see REP 103)
-        yaw_deg = -float(words[0])
+	#Added -90 to make it compatible with ENU (REP 103)
+        yaw_deg = -90-float(words[0])
         yaw_deg = yaw_deg + imu_yaw_calibration
         if yaw_deg > 180.0:
             yaw_deg = yaw_deg - 360.0
         if yaw_deg < -180.0:
             yaw_deg = yaw_deg + 360.0
         yaw = yaw_deg*degrees2rad
         #in AHRS firmware y axis points right, in ROS y axis points left (see REP 103)
-        pitch = -float(words[1])*degrees2rad
-        roll = float(words[2])*degrees2rad
+        pitch = float(words[1])*degrees2rad
+        roll = -float(words[2])*degrees2rad
 
         # Publish message
         # AHRS firmware accelerations are negated
@@ -243,9 +244,9 @@ def reconfig_callback(config, level):
         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)
-        imuMsg.angular_velocity.y = -float(words[7])
+        #in AHRS firmware x axis points right, in ROS x axis points left (see REP 103)
+        imuMsg.angular_velocity.x = -float(words[6])
+        imuMsg.angular_velocity.y = float(words[7])
         #in AHRS firmware z axis points down, in ROS z axis points up (see REP 103) 
         imuMsg.angular_velocity.z = -float(words[8])