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I have a hector_gazebo IMU in my .urdf.xacro robot model. To match the orientation of the IMU on our real robot, I need to roll it by 180 degrees (relative to base_link) so that +z is down, +y is right. I want imu data to be published in the local imu frame (imu_link). With this 180 degree rotation, the data in the imu message does not look to be transformed correctly, and I can't figure out what I'm doing wrong. Am I missing something with how tf works, or am i incorrectly specifying the frameId in the plugin, or is this an error in the plugin?

I instantiate the plugin using the following code:

<plugin name="imu" filename="libhector_gazebo_ros_imu.so">
  <serviceName>/imu/calibrate</serviceName>
  <updateRate>200.0</updateRate>
  <bodyName>imu_link</bodyName>
  <frameId>imu_link</frameId>
  <topicName>imu</topicName>
  <rpyOffset>0 0 0</rpyOffset>
  <xyzOffset>0 0 0</xyzOffset>
  <gaussianNoise>0.00000001</gaussianNoise>
  <accelDrift>0.00000001 0.00000001 0.00000001</accelDrift>
  <accelDriftFrequency>0.00000001 0.00000001 0.00000001</accelDriftFrequency>
  <accelGaussianNoise>0.00000001 0.00000001 0.00000001</accelGaussianNoise>
  <rateDrift>0.0 0.0 0.0</rateDrift>
  <rateDriftFrequency>0.0 0.0 0.0</rateDriftFrequency>
  <rateGaussianNoise>0.0 0.0 0.0</rateGaussianNoise>
  <headingDrift>0.0 0.0 0.0</headingDrift>
  <headingDriftFrequency>0.0 0.0 0.0</headingDriftFrequency>
  <headingGaussianNoise>0.0 0.0 0.0</headingGaussianNoise>
</plugin>

The test I constructed is a simple transform from base_link that rolls 180 degrees. Attached are screenshots showing the two frames (base_link and imu_link) and the imu data when driving in a left circle. In both cases the frame_id of the imu message is imu_link.

When I roll the 'imu_joint' by 180 degrees, which connects base_link and imu_link, the imu data is not transformed how I expect when performing a left turn. The z angular rate should now be negative and the oscillations in the linear_acceleration look like the data is being transformed into a global frame instead of the local imu frame:

Thanks I went through all the parameters in my .cfg file again and found a capitalization error in one. Successfully installs now.

I am trying to add a dynamic_reconfigure server to my node. catkin_make is successful, including the generation of the .h file for my .cfg file, but catkin_make install generates the error:

file INSTALL cannot find "/devel/include/customConfigFile.h"

The customConfigFile.h is generated in my package, but is not ever moved over to devel/. I could not find anything relevant mentioned in the dynamic_reconfigure tutorials. How should I install the generated header file?

I'm running Indigo and Ubuntu 14.04.

The typo was a formatting error on my part copying to the post. ros-groovy-theora-image-transport is installed and image_transport/theora is listed as a declared transport using rosrun image_transport list_transports

I am running Ubuntu 12.04 with Groovy. I am trying to republish a theora stream as decompressed images using:

rosrun image_transport republish theora in:=camera/image raw out:=camera/image_decompressed

The node core dumps on startup with the error:

terminate called after throwing an instance of 'image_transport::TransportLoadException'
  what():  Unable to load plugin for transport 'theora', error string:
Failed to load library /opt/ros/groovy/lib//libtheora_image_transport.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /opt/ros/groovy/lib//libtheora_image_transport.so: undefined symbol: th_comment_clear)
Aborted (core dumped)

If I run the node republishing compressed or raw streams, the node starts and functions normally.

I see theora as a valid image transport using rosrun image_transport list_transports. I get this same error on 3 different machines all running Groovy, and the error does not happen using Fuerte. Could this be an issue with how image_transport_plugins is compiled?