added reverse accelerations to the IMU publisher

Author: micahpearlman

Runtime/Scripts/ROS/Unity/Publishers/ZOROSIMUPublisher.cs

@@ -49,6 +49,21 @@ public CoordinateSystemEnum CoordinateSystem {
             set { _coordinateSystem = value; }
         }
 
+        public bool _reverseLinearAccelerations = false;
+
+        /// <summary>
+        /// Flips gravity vector. 
+        /// Why would you: the accelerometer is an intertial sensor and it measures inertial force. 
+        /// The accelerometer doesn’t measure G-force, but rather the force that resists to G. 
+        /// The resisting force aims up to the ceiling.
+        /// </summary>
+        /// <value></value>
+        public bool ReverseLinearAccelerations {
+            get { return _reverseLinearAccelerations; }
+            set { _reverseLinearAccelerations = value; }
+        }
+
+
 
         private ZOROSTransformPublisher _transformPublisher = null;
         public ZOROSTransformPublisher TransformPublisher {
@@ -102,6 +117,12 @@ private Task OnPublishImuDelegate(ZOIMU lidar, string name, Vector3 linearAccel,
             _imuMessage.header.Update();
             _imuMessage.header.frame_id = TransformPublisher.ChildFrameID;
 
+
+            if (ReverseLinearAccelerations == true) {
+                linearAccel = linearAccel * -1;
+            }
+
+
             if (_coordinateSystem == CoordinateSystemEnum.ROS_RightHanded_XForward_YLeft_ZUp) {
                 _imuMessage.linear_acceleration.UnityVector3 = linearAccel;
                 _imuMessage.angular_velocity.UnityVector3 = angularVelocity;
@@ -133,7 +154,7 @@ private Task OnPublishImuDelegate(ZOIMU lidar, string name, Vector3 linearAccel,
                 _imuMessage.linear_acceleration.z = linearAccel.z;
 
                 _imuMessage.angular_velocity.x = angularVelocity.x;
-                _imuMessage.angular_velocity.y = -angularVelocity.y;
+                _imuMessage.angular_velocity.y = angularVelocity.y;
                 _imuMessage.angular_velocity.z = angularVelocity.z;
 
             } else if (CoordinateSystem == CoordinateSystemEnum.Unity_LeftHanded_XRight_YUp_ZForward) {
@@ -153,6 +174,8 @@ private Task OnPublishImuDelegate(ZOIMU lidar, string name, Vector3 linearAccel,
             }
 
 
+
+
             ROSBridgeConnection.Publish(_imuMessage, ROSTopic, Name);
 
             return Task.CompletedTask;

Runtime/Scripts/Sensors/IMU/ZOIMU.cs

@@ -15,20 +15,6 @@ namespace ZO.Sensors {
     [RequireComponent(typeof(Rigidbody))]
     public class ZOIMU : ZOGameObjectBase, ZOSerializationInterface {
 
-        [Header("IMU Parameters")]
-        public bool _flipAccelerations = false;
-
-        /// <summary>
-        /// Flips gravity vector. 
-        /// Why would you: the accelerometer is an intertial sensor and it measures inertial force. 
-        /// The accelerometer doesn’t measure G-force, but rather the force that resists to G. 
-        /// The resisting force aims up to the ceiling.
-        /// </summary>
-        /// <value></value>
-        public bool FlipAccellerations {
-            get {return _flipAccelerations;}
-            set {_flipAccelerations = value;}
-        }
 
 
         [Header("Noise Models")]
@@ -115,12 +101,6 @@ protected override async void ZOFixedUpdate() {
             _acceleration = (velocity - _lastVelocity) / Time.fixedDeltaTime;
             _lastVelocity = velocity;
 
-            // apply gravity
-            if (FlipAccellerations == true) {
-                _acceleration += transform.InverseTransformDirection(UnityEngine.Physics.gravity * -1);
-            } else {
-                
-            }
 
             // calculate gravity
             _acceleration += transform.InverseTransformDirection(UnityEngine.Physics.gravity);            
@@ -136,10 +116,6 @@ protected override async void ZOFixedUpdate() {
             Vector3 publishedAngularVelocity = _angularVelocity;
             Quaternion publishedOrientation = transform.rotation;
 
-            if (FlipAccellerations == true) {
-                publishedAcceleration = publishedAcceleration * -1;
-            }
-
 
             if (OnPublishDelegate != null) {
                 await OnPublishDelegate(this, Name, publishedAcceleration, publishedAngularVelocity, publishedOrientation);