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Correctly hande header.frame_id #45

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rsiryani opened this issue Aug 20, 2021 · 1 comment
Closed

Correctly hande header.frame_id #45

rsiryani opened this issue Aug 20, 2021 · 1 comment
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@mzembsbg
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bug
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Revamped ROS driver
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Rework Time

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@rsiryani
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The frame_id is used to define in 3D where a measurement is located.
It shouldn't be used to indicate time system.
Also the user should be able to configure the frame_id name as node parameter.

We consider here a simple case where all INS / IMU measurements should come from the same frame.
The user should make sure he has correctly setup his INS to output all measurements at the Bare IMU ref point.
@rsiryani rsiryani added this to the Rework Time milestone Aug 20, 2021
@rsiryani rsiryani added this to To do in Revamped ROS driver via automation Aug 20, 2021
@rsiryani rsiryani added the bug label Aug 20, 2021
@rsiryani
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Please check https://www.ros.org/reps/rep-0145.html
The IMU frame_id should be imu_link or imu_link_ned or overiden by the user

mzembsbg added a commit that referenced this issue Aug 24, 2021
@mzembsbg
Fix #45 - Correctly handle header.frame_id
83bf0b4 
- Add a new parameter to allow user to specify driver.frameId parameter.
- Move parameter output.frequency to driver.frequency

According to REP 145, the default frame ID is "imu_link_ned".
@rsiryani rsiryani moved this from To do to In Progress in Revamped ROS driver Aug 25, 2021
@bsaussay bsaussay moved this from In Progress to Done in Revamped ROS driver Aug 27, 2021
bsaussay pushed a commit that referenced this issue Aug 27, 2021
#45-#50 - Add parameters to set frame ID and ENU convention
ffc9af6
@bsaussay bsaussay linked a pull request Aug 27, 2021 that will close this issue
Rework ros driver #58
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@mzembsbg mzembsbg

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bug
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Revamped ROS driver
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Rework Time
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Successfully merging a pull request may close this issue.

Rework ros driver SBG-Systems/sbg_ros_driver
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@rsiryani @mzembsbg