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[WIP] Support for IMU orientation noise #606

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[WIP] Support for IMU orientation noise #606

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465d88b
noise support for orientation
faseelmo Apr 17, 2026
2be90b7
Merge branch 'main' into feature/imu_pose_noise
faseelmo Apr 17, 2026
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12 changes: 12 additions & 0 deletions include/gz/sensors/SensorTypes.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -209,6 +209,18 @@ namespace gz
/// \sa AirSpeedSensor
AIR_SPEED_NOISE_PASCALS = 25,

/// \brief Orientation body-frame X axis (Roll) noise in rad
/// \sa ImuSensor
ORIENTATION_X_NOISE_RAD = 26,

/// \brief Orientation body-frame Y axis (Pitch) noise in rad
/// \sa ImuSensor
ORIENTATION_Y_NOISE_RAD = 27,

/// \brief Orientation body-frame Z axis (Yaw) noise in rad
/// \sa ImuSensor
ORIENTATION_Z_NOISE_RAD = 28,

/// \internal
/// \brief Indicator used to create an iterator over the enum. Do not
/// use this.
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20 changes: 17 additions & 3 deletions src/ImuSensor.cc
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Expand Up @@ -157,6 +157,9 @@ bool ImuSensor::Load(const sdf::Sensor &_sdf)
{GYROSCOPE_X_NOISE_RAD_S, _sdf.ImuSensor()->AngularVelocityXNoise()},
{GYROSCOPE_Y_NOISE_RAD_S, _sdf.ImuSensor()->AngularVelocityYNoise()},
{GYROSCOPE_Z_NOISE_RAD_S, _sdf.ImuSensor()->AngularVelocityZNoise()},
{ORIENTATION_X_NOISE_RAD, _sdf.ImuSensor()->OrientationXNoise()},
{ORIENTATION_Y_NOISE_RAD, _sdf.ImuSensor()->OrientationYNoise()},
{ORIENTATION_Z_NOISE_RAD, _sdf.ImuSensor()->OrientationZNoise()},
};

for (const auto & [noiseType, noiseSdf] : noises)
Expand Down Expand Up @@ -288,9 +291,12 @@ bool ImuSensor::Update(const std::chrono::steady_clock::duration &_now)
4, getCov(GYROSCOPE_Y_NOISE_RAD_S));
msg.mutable_angular_velocity_covariance()->set_data(
8, getCov(GYROSCOPE_Z_NOISE_RAD_S));
msg.mutable_orientation_covariance()->set_data(0, 0.0);
msg.mutable_orientation_covariance()->set_data(4, 0.0);
msg.mutable_orientation_covariance()->set_data(8, 0.0);
msg.mutable_orientation_covariance()->set_data(
0, getCov(ORIENTATION_X_NOISE_RAD));
msg.mutable_orientation_covariance()->set_data(
4, getCov(ORIENTATION_Y_NOISE_RAD));
msg.mutable_orientation_covariance()->set_data(
8, getCov(ORIENTATION_Z_NOISE_RAD));
}

if (this->dataPtr->orientationEnabled)
Expand All @@ -301,7 +307,15 @@ bool ImuSensor::Update(const std::chrono::steady_clock::duration &_now)
this->dataPtr->orientationReference.Inverse() *
this->dataPtr->worldPose.Rot();

// Adding noise to orientation
math::Vector3d euler = this->dataPtr->orientation.Euler();
applyNoise(ORIENTATION_X_NOISE_RAD, euler.X());
applyNoise(ORIENTATION_Y_NOISE_RAD, euler.Y());
applyNoise(ORIENTATION_Z_NOISE_RAD, euler.Z());
this->dataPtr->orientation.SetFromEuler(euler);

msgs::Set(msg.mutable_orientation(), this->dataPtr->orientation);

}
msgs::Set(msg.mutable_angular_velocity(), this->dataPtr->angularVel);
msgs::Set(msg.mutable_linear_acceleration(), this->dataPtr->linearAcc);
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