From 7f1c4b93980ac726fc0b64a100a1d76a4707363e Mon Sep 17 00:00:00 2001 From: sugihara Date: Mon, 4 Nov 2024 14:33:00 +0900 Subject: [PATCH] Revert "[aerial_robot_estimation] normalize quaternions before converting to message to suppress warning message" This reverts commit 47e6c27150ea0d87facfd0f49548196e42972d77. --- aerial_robot_estimation/src/sensor/imu.cpp | 1 - aerial_robot_estimation/src/state_estimation.cpp | 2 -- 2 files changed, 3 deletions(-) diff --git a/aerial_robot_estimation/src/sensor/imu.cpp b/aerial_robot_estimation/src/sensor/imu.cpp index 3de56673ab..2e8fd9fb80 100644 --- a/aerial_robot_estimation/src/sensor/imu.cpp +++ b/aerial_robot_estimation/src/sensor/imu.cpp @@ -441,7 +441,6 @@ namespace sensor_plugin imu_data.header.stamp = imu_stamp_; tf::Quaternion q; base_rot_.at(0).getRotation(q); - q.normalize(); tf::quaternionTFToMsg(q, imu_data.orientation); tf::vector3TFToMsg(omega_, imu_data.angular_velocity); tf::vector3TFToMsg(acc_b_, imu_data.linear_acceleration); diff --git a/aerial_robot_estimation/src/state_estimation.cpp b/aerial_robot_estimation/src/state_estimation.cpp index bc89a7130f..162e20dbf3 100644 --- a/aerial_robot_estimation/src/state_estimation.cpp +++ b/aerial_robot_estimation/src/state_estimation.cpp @@ -142,7 +142,6 @@ void StateEstimator::statePublish(const ros::TimerEvent & e) /* Baselink */ /* Rotation */ tf::Quaternion q; getOrientation(Frame::BASELINK, estimate_mode_).getRotation(q); - q.normalize(); tf::quaternionTFToMsg(q, odom_state.pose.pose.orientation); tf::vector3TFToMsg(getAngularVel(Frame::BASELINK, estimate_mode_), odom_state.twist.twist.angular); @@ -172,7 +171,6 @@ void StateEstimator::statePublish(const ros::TimerEvent & e) /* COG */ /* Rotation */ getOrientation(Frame::COG, estimate_mode_).getRotation(q); - q.normalize(); tf::quaternionTFToMsg(q, odom_state.pose.pose.orientation); tf::vector3TFToMsg(getAngularVel(Frame::COG, estimate_mode_), odom_state.twist.twist.angular); /* Translation */