Supply world frame orientation and heading to IMU sensor : DCO fix

[adityapande-1995]

Signed-off-by: Aditya aditya050995@gmail.com

🎉 New feature

Ported from : #1320 to make the DCO bot happy

Summary

This PR, along with gazebosim/gz-sensors#186, enables the user to specify named orientation frames like ENU and NED as reference tags for the IMU sensor. The sensor should output the orientation based on the frame specified in the localization tag.

This should also take into account the orientation of the world and the heading_dec offset in the <spherical_coordiantes> tag. Currently, spherical coordinates tag nly supports the ENU world fame.

Test it

2 integration tests have been added that use a combination of heading_deg and localization tags to get different orientations for IMUs.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[adityapande-1995]

The changes here were originally approved here : #1320

[hidmic]

LGTM pending green CI. Thanks @adityapande-1995!

@scpeters any other comments?

[adityapande-1995]

Homebrew failures seem unrelated, and INTEGRATION_imu_system is passing. Windows has segafaults in other tests. The scene broadcaster and network tests are flaky and unrelated.

[codecov]

Codecov Report

Merging #1427 (60ced56) into ign-gazebo6 (fa2d7cc) will increase coverage by 0.10%.
The diff coverage is 98.27%.

@@               Coverage Diff               @@
##           ign-gazebo6    #1427      +/-   ##
===============================================
+ Coverage        63.36%   63.46%   +0.10%     
===============================================
  Files              306      307       +1     
  Lines            24715    24783      +68     
===============================================
+ Hits             15660    15729      +69     
+ Misses            9055     9054       -1     

Impacted Files	Coverage Δ
include/ignition/gazebo/EntityComponentManager.hh	100.00% <ø> (ø)
include/ignition/gazebo/detail/BaseView.hh	100.00% <ø> (ø)
src/BaseView.cc	100.00% <ø> (ø)
...rc/systems/odometry_publisher/OdometryPublisher.hh	100.00% <ø> (ø)
...rc/systems/odometry_publisher/OdometryPublisher.cc	88.37% <95.16%> (+2.31%)	⬆️
...e/ignition/gazebo/detail/EntityComponentManager.hh	93.86% <100.00%> (+0.44%)	⬆️
include/ignition/gazebo/detail/View.hh	100.00% <100.00%> (ø)
src/View.cc	100.00% <100.00%> (ø)
src/systems/imu/Imu.cc	74.25% <100.00%> (+2.51%)	⬆️
... and 1 more

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[hidmic]

@adityapande-1995 @scpeters when will this be forwarded to main ?

[adityapande-1995]

I'm not sure about the forward porting strategy, maybe @chapulina or @scpeters can comment about that ? We would also need to port gazebosim/gz-sensors#186 and gazebosim/gz-sensors#212 to main in ign-sensors

[scpeters]

@adityapande-1995 @scpeters when will this be forwarded to main ?

it can be forward-ported at any time. I'll make an attempt

[scpeters]

@adityapande-1995 @scpeters when will this be forwarded to main ?

it can be forward-ported at any time. I'll make an attempt

gazebosim/gz-sensors#214

[hidmic]

Thanks @scpeters! Now we just have to do the same here, right?

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-releases-2022-04-27-fortress-citadel/1389/1