ros-planning/navigation — pull request #239 by akalmbach (2014-08-06 19:34:53+00:00)
Title: The TF from IMU to base frame was inverted

The IMU measurements are in the IMU frame of reference, and we would like to get them in the base footprint frame of reference. This change makes it so the transform applied to the measurements is from IMU Frame to base footprint frame of reference, rather than the opposite way.

This issue was observed while working with a Clearpath Husky with a UM6 IMU which is mounted rotated. We had been using a wrong imu_link -> base_link tf to compensate for this problem until identifying it. Presumably this effects any robot which has a non-flat mounted IMU.