conversion from NED to ENU for vectornav imu
Hello, I have a vectornav 200 IMU for which i am using the driver provided here: https://github.com/dawonn/vectornav
I wasn't able to find a clear answer on how to prepare the IMU to be used in EKF node. Apparently the IMU is publishing its orientation in NED frame. In case I would like to use the IMU with no translation and rotation wrt base_link,
1 How should the actual device be placed?
2 What should be the static transform wrt base_link?
3 How to make imu publish in ENU frame?
I have used the setup proposed here: https://github.com/ros-perception/imu... but so far I wasnt able to get the right result. Thanks!