Why no frame lever-arm (translation) parameters are used when transforming acceleration measurements in imu_transformer?
I see that the ROS imu_transformer node does not consider the lever-arm (translation) parameters between the two frames. Transforming acceleration data needs knowledge of the lever-arm parameters since it can be subject to centrifugal acceleration. Is this ignored on purpose, assuming such effect might not "significantly" bias the measurements?
pedantic, but: this is not the ROS
imu_transformernode, but a implementation of a node that allows you to transformsensor_msgs/Imumsgs from one frame to another.Your question is specifically about that particular implementation.
Well, that's what the imu_transformer claims to do. It transforms sensor_msgs/Imu from one frame to another. It actually calls a transform method on tf2 object, which in turn calls a doTransform method which is implemented here
I don't believe I write anything differently. My comment was about the fact that you write you are looking at the ROS
imu_transformer. In fact, it's "just" a node created by a community contributor. By using "the", you are implying there has been some sort of vetting process andimu_processhas been nominated as the official -- and correct -- implementation of this functionality. That's not true and is, I believe, an important distinction to make.I see. Thanks for the insight.