fix: the angular velocity of the IMU topic is in the body coordinate system. Close #39

src/rl_sar/scripts/rl_sim.py

@@ -54,7 +54,7 @@ class RL_Sim(RL, Node):
         self.ReadYaml(self.robot_name)
         for i in range(len(self.params.observations)):
             if self.params.observations[i] == "ang_vel":
-                self.params.observations[i] = "ang_vel_world"
+                self.params.observations[i] = "ang_vel_body"
 
         # init rl
         torch.set_grad_enabled(False)

src/rl_sar/src/rl_sim.cpp

@@ -41,10 +41,9 @@ RL_Sim::RL_Sim()
     this->ReadYaml(this->robot_name);
     for (std::string &observation : this->params.observations)
     {
-        // In Gazebo, the coordinate system for angular velocity is in the world coordinate system.
         if (observation == "ang_vel")
         {
-            observation = "ang_vel_world";
+            observation = "ang_vel_body";
         }
     }