sl-controls
570ebd3d22
Implement magnetometer-based heading calculation with tilt compensation and magnetic declination correction for France (1.5° east). Features: - Tilt-compensated heading using quaternion-based orientation Roll and pitch compensation for uneven terrain - Magnetic declination correction: 1.5° for France - Heading normalization to 0-360 degree range - Publishes both Float64 (degrees) and quaternion representations - 10Hz publishing frequency with configurable parameters Algorithm: - Subscribe to IMU (quaternion orientation) and magnetometer data - Convert quaternion to roll/pitch/yaw for tilt compensation - Project magnetometer vector onto horizontal plane using trig functions - Apply declination correction and normalize heading - Publish heading as Float64 degrees and quaternion (Z-axis rotation only) Test Coverage: - 30+ unit tests covering: - Node initialization and parameters - Quaternion to Euler conversion (identity, 90° rotations) - Heading quaternion creation (0°, 90°, 180°, custom angles) - Tilt-compensated heading with roll, pitch, combined tilts - Declination correction application - Sensor subscription handlers - Heading angle normalization and wrapping - Realistic scenarios (level, tilted uphill/sideways, 3D tilt, weak signal, continuous rotation) Topics: - Subscribed: /saltybot/imu/data (Imu), /saltybot/mag (MagneticField) - Published: /saltybot/heading (Float64), /saltybot/heading_quaternion (QuaternionStamped) Config: frequency=10Hz, declination_deg=1.5 Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
13 lines
388 B
YAML
13 lines
388 B
YAML
# Compass heading node configuration
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compass_heading:
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ros__parameters:
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# Publishing frequency (Hz)
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frequency: 10 # 10 Hz = 100ms cycle
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# Magnetic declination (degrees)
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# France: +1.5° (magnetic north is east of true north)
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# Positive value: magnetic north is east of true north
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# Negative value: magnetic north is west of true north
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declination_deg: 1.5
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