[estimation][control] SO3 attitude control#598

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sugikazu75 wants to merge 14 commits intojsk-ros-pkg:masterfrom sugikazu75:PR/feature/so3_attitude_control

+649-412

Commits on Jul 18, 2024

[spinal] publish gravitational vector instead of euler angle
sugikazu75
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[aerial_robot_simulation] work around euler so3 control
sugikazu75
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[aerial_robot_model] remove desire coordinate subscriber in robot model
sugikazu75
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[aerial_robot_estimation] work around state estimation with so3 system
sugikazu75
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[aerial_robot_control] refactor navigation and use so3 system for rotatonal motion
sugikazu75
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[aerial_robot_estimation][mocap] bug fix for singularoty pose
sugikazu75
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[dragon] workaround for so3 control
sugikazu75
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Revert "[aerial_robot_estimation][mocap] bug fix for singularoty pose"
sugikazu75
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[aerial_robot_estimation][imu] bug fix for singularity pose: yaw angle from groundtruth
sugikazu75
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Commits on Oct 18, 2024

[aerial_robot_estimation] normalize quaternions before converting to message to suppress warning message
sugikazu75
committed