imu_transformer does not transform data

asked 2021-02-22 03:53:15 -0600

Gherkins gravatar image

updated 2021-02-22 04:50:42 -0600

I have an imu that publishes in NWU format and I want to rotate it 90 degrees so it becomes ENU.

<node pkg="tf2_ros" type="static_transform_publisher" name="enu_publisher"
   args="0 0 0 -1.57079633 0 0 imu_link_ned imu_link_enu"/>
<node name="um7_transformer" pkg="imu_transformer" type="imu_transformer_node">
   <remap from="imu_in" to="um7"/>
   <remap from="imu_out/data" to="imu/data"/>
   <remap from="imu_out/mag" to="imu/mag"/>
   <param name="target_frame" value="imu_link_enu"/>
</node>

I publish a transform from ned to enu by rotating 90 degrees and then I use imu_transformer to transform the data. However the input and output are exactly the same. How do I rotate it 90 degrees?

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