SITL Gazebo - how to get pose of sonar relative to drone in sonar plugin?

krisRadowski · August 18, 2020, 6:47pm

Hey, I want to get pose of sonar relative to drone;
Currently It’s getting the pose from this file:

PX4/PX4-SITL_gazebo/blob/master/models/sonar/model.sdf

<?xml version="1.0" ?>
<sdf version="1.4">
  <model name="sonar">
    <link name="link">
      <pose>0 0 0 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.000000000000001</mass>
        <inertia>
          <ixx>2.08333333e-7</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>2.08333333e-7</iyy>
          <iyz>0</iyz>
          <izz>4.16666667e-8</izz>
        </inertia>
      </inertial>
      <visual name="visual">
        <geometry>
          <box>

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and I need to get sonar pose to distinguish multiple sensors in MAVLINK messages…

krisRadowski · August 19, 2020, 4:20pm

OK, I figured out that pose is published in OnNewScans() function in:

github.com

PX4/PX4-SITL_gazebo/blob/main/src/gazebo_sonar_plugin.cpp

/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/*
 * Desc: Contact plugin
 * Author: Nate Koenig mod by John Hsu
 */

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but problem is how orientation field is set in DISTANCE_SENSOR message
Zrzut ekranu z 2020-08-19 18-07-20

@TSC21 excuse me, could you explain me how Quaternions are translated to orientation field?