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I'm having the problem where the data coming out of the /imu/mag field is not affecting the orientation output on /imu/data. The output on /imu/data is nearly the same as it is on /imu/raw and the robot is not pointing north or east (as you can see in the bagfile).
In the ENU convention, x=East, y=North, z=Up. So in the neutral orientation (yaw, pitch and roll = 0), the magnetic field is pointing north and down (which is expected in the northern hemisphere). This is why the filter correctly returns the neutral orientation. If I edit your mag_convert.py so that x and y are switched and play back the bagfile without the imu/mag and imu/data topics, the filter correctly returns the new orientation.
I'm having the problem where the data coming out of the /imu/mag field is not affecting the orientation output on /imu/data. The output on /imu/data is nearly the same as it is on /imu/raw and the robot is not pointing north or east (as you can see in the bagfile).
OS: Ubuntu 18.04
ROS: melodic
imu_filter_madgwich Version: 1.2.2
IMU: xsens mti-630
Bag file:
bagfile.zip
imu_test.launch
mag_convert.py
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