-
Notifications
You must be signed in to change notification settings - Fork 254
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Add magnetometer plugin parameter to publish units as tesla #2336
base: gz-sim8
Are you sure you want to change the base?
Add magnetometer plugin parameter to publish units as tesla #2336
Conversation
Thank you for the review @ahcorde, I think I updated everything you asked for. Thank you for the helper function point out as well! |
Are the
|
with #2460, support for publishing units as tesla should now be available. It would be nice to add the integration test from this PR though. |
🦟 Bug fix
Fixes #2312
Summary
As mentioned in #2312, the magnetic field message is incorrectly using Gauss as the units for the field strength, rather than the SI unit of teslas.
This PR adds a flag,
use_tesla_for_magnetic_field
, to theMagnetometerSystem
to enable this fix as to not break any existing functionality that assumes Gauss. It also adds theConfigure
step to theMagnetometerSystem
.While I was here, I noticed that the integration test doesn't actually update the
MagnetometerSystem
because the SphericalCoorindates are not set. I think this might be an oversight. I did not change that existing test in case it was like that on purpose.Checklist
codecheck
passed (See contributing)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.