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[aerial_robot_estimation][WIP] same yaw direction as 326 world #654

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@HarukiKozukapenguin HarukiKozukapenguin commented Jan 12, 2025

What is this

yaw direction is setted in initial direction of quadrotor if there are no ground truth mocap data.

Details

  • set 0.0 in ^{w}H_{b'} if there are no ground truth data
  • checked if this is abailable in the flight with mocap

TODO

  • can set differnt variable by different rooms from launch file

Figs

In the quadrotor is setted in R = I mocap in 326...
before:
body_world_difference_before

after:
body_world_difference

@HarukiKozukapenguin HarukiKozukapenguin changed the title [aerial_robot_estimation] same yaw direction as 326 world [aerial_robot_estimation][WIP] same yaw direction as 326 world Jan 12, 2025
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