search

KumarRobotics / imu_vn_100

ROS driver for VN-100 of VectorNav Technologies
Apache License 2.0
46 stars 52 forks source link

Try to address #25 unstable frequency #30

Open versatran01 opened 5 years ago

versatran01 commented 5 years ago

  1. Use the idea from #28 to fix the unstable timestamp, see #25 for details. Add a parameter time_alpha to compute final timestamp as t1 = a dt_ros + (1-a) dt_dev + t0 time_alpha defaults to 0 which is the fix from #28. User can check /imu/dt for the difference between 2 consecutive time stamps and /imu/dnow for the deviation from ros time.

  2. Various cleanup.

  3. Use binary group 1 only.

  4. Remove ypr publisher

Normally I would just merge this, but since there are other people using this driver, it would be nice if someone could review this PR. @IanTheEngineer @clalancette @Triocrossing Thanks.

clalancette commented 5 years ago

@versatran01 Thanks for the change! I was on vacation last week, but I'll take a look at it this week.