change rtk_nav992, add yaw rotate M_PI/2.0 .

src/ros/catkin/src/rtk_nav992/src/main.cpp

@@ -122,10 +122,20 @@ void callback_twist(const geometry_msgs::TwistConstPtr &msg)
 void callback_imu(const sensor_msgs::ImuConstPtr &msg)
 {
     ROS_INFO("Received nav992_device/Imu Array");
-    adc_x = msg->orientation.x;
-    adc_y = msg->orientation.y;
-    adc_z = msg->orientation.z;
-    adc_w = msg->orientation.w;
+    Quaternion q;
+    q.x = msg->orientation.x;
+    q.y = msg->orientation.y;
+    q.z = msg->orientation.z;
+    q.w = msg->orientation.w;
+    EulerAngles ang = ToEulerAngles(q);
+    double  yaw = ang.yaw;
+    yaw = M_PI/2.0 - yaw;
+    ang.yaw = yaw;
+    q = ToQuaternion(ang.yaw,ang.pitch,ang.roll);
+    adc_x = q.x;
+    adc_y = q.y;
+    adc_z = q.z;
+    adc_w = q.w;
     b_imu = true;
 }