Does Ignition Fortress has a way to use NED reference frame?
Usually with underwater vehicles NED reference frame is used instead of NWU. I was wondering if there is a way to represent everything like this in Ignitnion already. This question was asked in the past, but in relation to gazebo:
- https://answers.gazebosim.org/question/20065/how-to-define-a-new-frame-of-reference-for-world-and-model/
- https://answers.gazebosim.org/question/12396/north-east-down-ned-gazebo-frame/
Since these are old, I just wish to know if now something has changed.
Asked by matosinho on 2022-01-12 06:48:16 UTC
Answers
There's no out-of-the-box NED support, but users can convert the values received from simulation.
The default of Ignition Gazebo is ENU, and some plugins may support other XXU variations by handling different <spherical_coordinate><heading>s (NWU, WSU and SEU). But since it's difficult to make sure every plugin is respecting the heading, I think it's safer to go with ENU (zero heading) and convert to NED at the controller interface.
Asked by chapulina on 2022-01-13 17:23:54 UTC
Comments
There is some visualization help, if minimal, being upstreamed to Ignition soon https://github.com/osrf/lrauv/issues/111
Asked by mz on 2022-01-13 17:39:29 UTC
Thank you for the answer! I'll do that!
Asked by matosinho on 2022-01-17 07:07:47 UTC
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