{"action":"created","issue":{"url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/344","labels_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/344/labels{/name}","comments_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/344/comments","events_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/344/events","html_url":"https://github.com/ros-simulation/gazebo_ros_pkgs/issues/344","id":99944884,"number":344,"title":"IMU plugin incorrectly uses Quaternion orientation","user":{"login":"TZ2016","id":5379746,"avatar_url":"https://avatars.githubusercontent.com/u/5379746?v=3","gravatar_id":"","url":"https://api.github.com/users/TZ2016","html_url":"https://github.com/TZ2016","followers_url":"https://api.github.com/users/TZ2016/followers","following_url":"https://api.github.com/users/TZ2016/following{/other_user}","gists_url":"https://api.github.com/users/TZ2016/gists{/gist_id}","starred_url":"https://api.github.com/users/TZ2016/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TZ2016/subscriptions","organizations_url":"https://api.github.com/users/TZ2016/orgs","repos_url":"https://api.github.com/users/TZ2016/repos","events_url":"https://api.github.com/users/TZ2016/events{/privacy}","received_events_url":"https://api.github.com/users/TZ2016/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-08-10T00:49:05Z","updated_at":"2015-08-10T11:06:12Z","closed_at":null,"body":"Given `q` as the result returned from `link->GetWorldPose().rot`, to rotate a vector in world frame to body frame, we should use `q.RotateVectorReverse(.)` instead of `RotateVector(.)`. \r\nIn `gazebo_ros_imu.cpp`, angular velocity is calculated incorrectly. "},"comment":{"url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/comments/129408888","html_url":"https://github.com/ros-simulation/gazebo_ros_pkgs/issues/344#issuecomment-129408888","issue_url":"https://api.github.com/repos/ros-simulation/gazebo_ros_pkgs/issues/344","id":129408888,"user":{"login":"ffurrer","id":917816,"avatar_url":"https://avatars.githubusercontent.com/u/917816?v=3","gravatar_id":"","url":"https://api.github.com/users/ffurrer","html_url":"https://github.com/ffurrer","followers_url":"https://api.github.com/users/ffurrer/followers","following_url":"https://api.github.com/users/ffurrer/following{/other_user}","gists_url":"https://api.github.com/users/ffurrer/gists{/gist_id}","starred_url":"https://api.github.com/users/ffurrer/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ffurrer/subscriptions","organizations_url":"https://api.github.com/users/ffurrer/orgs","repos_url":"https://api.github.com/users/ffurrer/repos","events_url":"https://api.github.com/users/ffurrer/events{/privacy}","received_events_url":"https://api.github.com/users/ffurrer/received_events","type":"User","site_admin":false},"created_at":"2015-08-10T11:06:12Z","updated_at":"2015-08-10T11:06:12Z","body":"@TZ2016 can you open a pull-request?"}}