I understand the
imu/data messages so that the robots are placed in the world directed/looking along the x-axis. The artifact origin does not fit to this because for the first robot x- and y-coordinate are both negativ. So the coordinate system of the artifact origin seems to be turned by 90° to the odom coordinate system.
This is the case in all 3 simple_urban worlds. In all the tunnel worlds we did not have that problem.
For the existing solutions from the tunnel circuit it would be the easiest to still use the unwritten condition, that the tunnel entrance is directed in x-axis- direction.
Could this be fixed in the urban worlds?