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CCNYRoboticsLab / imu_tools

ROS tools for IMU devices
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use_magnetic_field_msg does not work #156

Closed TYXDG closed 2 years ago

TYXDG commented 2 years ago

Hello! I'm doing some experiments with jackal, and I want to fuse /imu/ data_raw and /imu/mag to get the absolute orientation of the vehicle. But since the message type given by Jackal for /imu/mag is geometry_MSgs /Vector3Stamped, I set use_magnetic_field_msg to false, But the "Client [/imu_filter] wants topic/imu/mag to have datatype/md5sum [sensor_msgs/MagneticField/2f3b0b43eed0c9501de0fa3ff89a45aa], but our version has [geometry_msgs/Vector3Stamped/7b324c7325e683bf02a9b14b01090ec7]" is still prompted. Can someone give me some help? thank you

mintar commented 2 years ago

The parameter use_magnetic_field_msg has been removed for all ROS distros >= Lunar in 2017 (https://github.com/CCNYRoboticsLab/imu_tools/commit/f5be6024415d240c7d2b9b28d540f82d058fc41a). It was only there to enable backwards compatibility to pre-2017 code.

Ideally, you would update your robot to publish sensor_msgs/MagneticField messages. If that's not possible, you could use the mag_convert.py script from #116 to re-publish the Vector3Stamped messages as MagneticField and feed that topic into imu_filter_madgwick.

It's ironic that you're having problems with the sensor_msgs/MagneticField on a Jackal robot, because Jackal is made by Clearpath Robotics, and it was @mikepurvis from Clearpath who initiated the switch of this repo to MagneticField in #43 7 years ago...

TYXDG commented 2 years ago

Thanks for your advice!