ccny-ros-pkg/imu_tools — pull request #5 by sameerparekh (2012-10-24 19:25:38+00:00)
Title: publish the orientation into tf

Hello-- I added a bit which publishes a transform from the frame in which the filter publishes the orientation back into the frame of the imu itself. I needed this because I want the zero orientation to be level and pointing north, but when the magnetic field shows a declination then the orentation that the filter publishes is in the frame of the magnetic field. So, combined with a transform (published elsewhere) from the world frame into the magnetic field frame, I now have a transform from the imu frame back into the world frame.

Best
-s