Sensor IMU yaml "motion_variance" inconsistancies
In sensor imu yamls, standard deviation parameters are kept under the "motion_variance" key as such:
type: "SensorImu" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
name: "Main Imu Sensor" # This is ignored. The name provided to the SensorFactory prevails
motion_variances:
a_noise: 0.02 # standard deviation of Acceleration noise (same for all the axis) in m/s2
w_noise: 0.03 # standard deviation of Gyroscope noise (same for all the axis) in rad/sec
ab_initial_stdev: 0.00 # m/s2 - initial bias
wb_initial_stdev: 0.0 # rad/sec - initial bias
ab_rate_stdev: 0.00001 # m/s2/sqrt(s)
wb_rate_stdev: 0.00001 # rad/s/sqrt(s)
which is taken into account in the createParamsSensorImu
function here.
However, in sensor_imu.h
the "motion_variance" is missing here. The fix is easy but how comes it did not cause trouble before?