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Does Ignition Fortress has a way to use NED reference frame?

asked 2022-01-12 05:48:16 -0600

matosinho gravatar image

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:

Since these are old, I just wish to know if now something has changed.

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answered 2022-01-13 16:23:54 -0600

chapulina gravatar image

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.

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There is some visualization help, if minimal, being upstreamed to Ignition soon https://github.com/osrf/lrauv/issues/111

mz gravatar imagemz ( 2022-01-13 16:39:29 -0600 )edit

Thank you for the answer! I'll do that!

matosinho gravatar imagematosinho ( 2022-01-17 06:07:47 -0600 )edit
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Asked: 2022-01-12 05:48:16 -0600

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Last updated: Jan 13