IMU X und Y getauscht

src/imu_node.py

@@ -141,24 +141,25 @@ def publish_measurements(imu_topic, mag_topic, status_topic, sensor):
     magnetic = sensor.magnetic
     quaternion = sensor.quaternion
 
+    # Sensor ist um 90° um die Z-Achse verdreht eingebaut → X- und Y-Achse tauschen
     imu_topic.publish(roslibpy.Message({
         'header': {'stamp': stamp, 'frame_id': FRAME_ID},
         'orientation': {
-            'x': quaternion[0],
-            'y': quaternion[1],
+            'x': quaternion[1],
+            'y': quaternion[0],
             'z': quaternion[2],
             'w': quaternion[3],
         },
         'orientation_covariance': [0.0] * 9,
         'angular_velocity': {
-            'x': gyro[0],
-            'y': gyro[1],
+            'x': gyro[1],
+            'y': gyro[0],
             'z': gyro[2],
         },
         'angular_velocity_covariance': [0.0] * 9,
         'linear_acceleration': {
-            'x': acceleration[0],
-            'y': acceleration[1],
+            'x': acceleration[1],
+            'y': acceleration[0],
             'z': acceleration[2],
         },
         'linear_acceleration_covariance': [0.0] * 9,
@@ -167,8 +168,8 @@ def publish_measurements(imu_topic, mag_topic, status_topic, sensor):
     mag_topic.publish(roslibpy.Message({
         'header': {'stamp': stamp, 'frame_id': FRAME_ID},
         'magnetic_field': {
-            'x': magnetic[0] * 1e-6,
-            'y': magnetic[1] * 1e-6,
+            'x': magnetic[1] * 1e-6,
+            'y': magnetic[0] * 1e-6,
             'z': magnetic[2] * 1e-6,
         },
         'magnetic_field_covariance': [0.0] * 9,