Describe the bug 3DM-GQ7 ROS message [/imu/data] is not send msg:sensor_msgs/Imu [orientation] Screenshot from 2023-04-11 21-15-55

I'm test changed [use_enu_frame] parameter to False and True in params.yml file

But still not show orientation data

And then I check [microstrain_inertial_driver_common/publishers.cpp]

I realize line 671 [Publishers::handleFilterAttitudeQuaternion] callback function not run frequently

I want to know 3DM-GQ7 not support send imu orientation data

Parheps, Is this code or Firmware problem?

My launch message show this

ros@ros-ThinkBook:~/catkin_ws$ roslaunch microstrain_inertial_driver microstrain.launch ... logging to /home/ros/.ros/log/4d3b462c-d85b-11ed-8a66-1fd08a5337c1/roslaunch-ros-ThinkBook-76152.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ros-ThinkBook:45633/

SUMMARY

PARAMETERS

/microstrain_inertial_driver/aux_port: /dev/ttyACM1
/microstrain_inertial_driver/baudrate: 115200
/microstrain_inertial_driver/debug: False
/microstrain_inertial_driver/device_setup: True
/microstrain_inertial_driver/diagnostics: False
/microstrain_inertial_driver/enable_hardware_odometer: False
/microstrain_inertial_driver/filter_adaptive_level: 2
/microstrain_inertial_driver/filter_adaptive_time_limit_ms: 15000
/microstrain_inertial_driver/filter_aiding_measurement_summary_data_rate: -1
/microstrain_inertial_driver/filter_aiding_status_data_rate: -1
/microstrain_inertial_driver/filter_angular_zupt: True
/microstrain_inertial_driver/filter_angular_zupt_topic: /moving_ang
/microstrain_inertial_driver/filter_antenna_offset_correction_data_rate: -1
/microstrain_inertial_driver/filter_auto_heading_alignment_selector: 1
/microstrain_inertial_driver/filter_auto_init: True
/microstrain_inertial_driver/filter_child_frame_id: sensor
/microstrain_inertial_driver/filter_data_rate: 10
/microstrain_inertial_driver/filter_declination: 0.23
/microstrain_inertial_driver/filter_declination_source: 2
/microstrain_inertial_driver/filter_dynamics_mode: 1
/microstrain_inertial_driver/filter_enable_altimeter_aiding: False
/microstrain_inertial_driver/filter_enable_external_gps_time_update: False
/microstrain_inertial_driver/filter_enable_external_heading_aiding: False
/microstrain_inertial_driver/filter_enable_gnss_antenna_cal: True
/microstrain_inertial_driver/filter_enable_gnss_heading_aiding: True
/microstrain_inertial_driver/filter_enable_gnss_pos_vel_aiding: True
/microstrain_inertial_driver/filter_enable_magnetometer_aiding: False
/microstrain_inertial_driver/filter_enable_odometer_aiding: False
/microstrain_inertial_driver/filter_enable_vertical_gyro_constraint: False
/microstrain_inertial_driver/filter_enable_wheeled_vehicle_constraint: False
/microstrain_inertial_driver/filter_external_gps_time_topic: /external_gps_time
/microstrain_inertial_driver/filter_external_speed_topic: /external_speed
/microstrain_inertial_driver/filter_frame_id: sensor_wgs84
/microstrain_inertial_driver/filter_gnss_antenna_cal_max_offset: 0.1
/microstrain_inertial_driver/filter_gnss_dual_antenna_data_rate: -1
/microstrain_inertial_driver/filter_heading_data_rate: -1
/microstrain_inertial_driver/filter_heading_source: 1
/microstrain_inertial_driver/filter_heading_state_data_rate: -1
/microstrain_inertial_driver/filter_imu_data_rate: -1
/microstrain_inertial_driver/filter_init_attitude: [0.0, 0.0, 0.0]
/microstrain_inertial_driver/filter_init_condition_src: 0
/microstrain_inertial_driver/filter_init_position: [0.0, 0.0, 0.0]
/microstrain_inertial_driver/filter_init_reference_frame: 2
/microstrain_inertial_driver/filter_init_velocity: [0.0, 0.0, 0.0]
/microstrain_inertial_driver/filter_lever_arm_offset: [0.0, 0.0, 0.0]
/microstrain_inertial_driver/filter_nmea_gga_data_rate: 0
/microstrain_inertial_driver/filter_nmea_gll_data_rate: 0
/microstrain_inertial_driver/filter_nmea_hdt_data_rate: 0
/microstrain_inertial_driver/filter_nmea_prka_data_rate: 0
/microstrain_inertial_driver/filter_nmea_rmc_data_rate: 0
/microstrain_inertial_driver/filter_nmea_talker_id: 3
/microstrain_inertial_driver/filter_odom_data_rate: -1
/microstrain_inertial_driver/filter_pps_source: 1
/microstrain_inertial_driver/filter_relative_odom_data_rate: -1
/microstrain_inertial_driver/filter_relative_position_config: False
/microstrain_inertial_driver/filter_relative_position_frame: 2
/microstrain_inertial_driver/filter_relative_position_ref: [0, 0, 0.01]
/microstrain_inertial_driver/filter_relative_position_source: 1
/microstrain_inertial_driver/filter_reset_after_config: True
/microstrain_inertial_driver/filter_sensor2vehicle_frame_selector: 1
/microstrain_inertial_driver/filter_sensor2vehicle_frame_transformation_euler: [0.0, 0.0, 0.0]
/microstrain_inertial_driver/filter_sensor2vehicle_frame_transformation_matrix: [1.0, 0.0, 0.0, 0...
/microstrain_inertial_driver/filter_sensor2vehicle_frame_transformation_quaternion: [0.0, 0.0, 0.0, 1.0]
/microstrain_inertial_driver/filter_speed_lever_arm: [0.0, 0.0, 0.0]
/microstrain_inertial_driver/filter_status_data_rate: -1
/microstrain_inertial_driver/filter_use_compensated_accel: True
/microstrain_inertial_driver/filter_vel_in_vehicle_frame: True
/microstrain_inertial_driver/filter_velocity_zupt: True
/microstrain_inertial_driver/filter_velocity_zupt_topic: /moving_vel
/microstrain_inertial_driver/gnss1_antenna_offset: [0.0, -0.7, -1.0]
/microstrain_inertial_driver/gnss1_data_rate: 2
/microstrain_inertial_driver/gnss1_fix_info_data_rate: -1
/microstrain_inertial_driver/gnss1_frame_id: gnss1_antenna_wgs84
/microstrain_inertial_driver/gnss1_nav_sat_fix_data_rate: -1
/microstrain_inertial_driver/gnss1_nmea_gga_data_rate: 0
/microstrain_inertial_driver/gnss1_nmea_gll_data_rate: 0
/microstrain_inertial_driver/gnss1_nmea_gsv_data_rate: 0
/microstrain_inertial_driver/gnss1_nmea_hdt_data_rate: 0
/microstrain_inertial_driver/gnss1_nmea_rmc_data_rate: 0
/microstrain_inertial_driver/gnss1_nmea_talker_id: 1
/microstrain_inertial_driver/gnss1_nmea_vtg_data_rate: 0
/microstrain_inertial_driver/gnss1_nmea_zda_data_rate: 0
/microstrain_inertial_driver/gnss1_odom_data_rate: -1
/microstrain_inertial_driver/gnss1_rf_error_detection_data_rate: -1
/microstrain_inertial_driver/gnss1_sbas_info_data_rate: -1
/microstrain_inertial_driver/gnss1_time_reference_data_rate: -1
/microstrain_inertial_driver/gnss2_antenna_offset: [0.0, 0.7, -1.0]
/microstrain_inertial_driver/gnss2_data_rate: 2
/microstrain_inertial_driver/gnss2_fix_info_data_rate: -1
/microstrain_inertial_driver/gnss2_frame_id: gnss2_antenna_wgs84
/microstrain_inertial_driver/gnss2_nav_sat_fix_data_rate: -1
/microstrain_inertial_driver/gnss2_nmea_gga_data_rate: 0
/microstrain_inertial_driver/gnss2_nmea_gll_data_rate: 0
/microstrain_inertial_driver/gnss2_nmea_gsv_data_rate: 0
/microstrain_inertial_driver/gnss2_nmea_hdt_data_rate: 0
/microstrain_inertial_driver/gnss2_nmea_rmc_data_rate: 0
/microstrain_inertial_driver/gnss2_nmea_talker_id: 2
/microstrain_inertial_driver/gnss2_nmea_vtg_data_rate: 0
/microstrain_inertial_driver/gnss2_nmea_zda_data_rate: 0
/microstrain_inertial_driver/gnss2_odom_data_rate: -1
/microstrain_inertial_driver/gnss2_rf_error_detection_data_rate: -1
/microstrain_inertial_driver/gnss2_sbas_info_data_rate: -1
/microstrain_inertial_driver/gnss2_time_reference_data_rate: -1
/microstrain_inertial_driver/gpio1_behavior: 0
/microstrain_inertial_driver/gpio1_feature: 0
/microstrain_inertial_driver/gpio1_pin_mode: 0
/microstrain_inertial_driver/gpio2_behavior: 0
/microstrain_inertial_driver/gpio2_feature: 0
/microstrain_inertial_driver/gpio2_pin_mode: 0
/microstrain_inertial_driver/gpio3_behavior: 0
/microstrain_inertial_driver/gpio3_feature: 0
/microstrain_inertial_driver/gpio3_pin_mode: 0
/microstrain_inertial_driver/gpio4_behavior: 0
/microstrain_inertial_driver/gpio4_feature: 0
/microstrain_inertial_driver/gpio4_pin_mode: 0
/microstrain_inertial_driver/gpio_config: False
/microstrain_inertial_driver/gps_leap_seconds: 18.0
/microstrain_inertial_driver/imu_angular_cov: [0.01, 0, 0, 0, 0...
/microstrain_inertial_driver/imu_data_rate: 100
/microstrain_inertial_driver/imu_frame_id: sensor
/microstrain_inertial_driver/imu_gps_corr_data_rate: -1
/microstrain_inertial_driver/imu_linear_cov: [0.01, 0, 0, 0, 0...
/microstrain_inertial_driver/imu_mag_data_rate: -1
/microstrain_inertial_driver/imu_nmea_prkr_data_rate: 0
/microstrain_inertial_driver/imu_orientation_cov: [0.01, 0, 0, 0, 0...
/microstrain_inertial_driver/imu_overrange_status_data_rate: -1
/microstrain_inertial_driver/imu_raw_data_rate: -1
/microstrain_inertial_driver/nmea_frame_id: nmea
/microstrain_inertial_driver/nmea_message_allow_duplicate_talker_ids: False
/microstrain_inertial_driver/nmea_message_config: False
/microstrain_inertial_driver/odometer_scaling: 0.0
/microstrain_inertial_driver/odometer_uncertainty: 0.0
/microstrain_inertial_driver/poll_max_tries: 60
/microstrain_inertial_driver/poll_port: False
/microstrain_inertial_driver/poll_rate_hz: 1.0
/microstrain_inertial_driver/port: /dev/ttyACM0
/microstrain_inertial_driver/publish_nmea: False
/microstrain_inertial_driver/raw_file_directory: /home/your_name
/microstrain_inertial_driver/raw_file_enable: False
/microstrain_inertial_driver/raw_file_include_support_data: False
/microstrain_inertial_driver/rtcm_topic: /rtcm
/microstrain_inertial_driver/rtk_data_rate: 1
/microstrain_inertial_driver/rtk_dongle_enable: False
/microstrain_inertial_driver/rtk_status_data_rate: 1
/microstrain_inertial_driver/save_settings: False
/microstrain_inertial_driver/sbas_apply_integrity: False
/microstrain_inertial_driver/sbas_enable: True
/microstrain_inertial_driver/sbas_enable_corrections: True
/microstrain_inertial_driver/sbas_enable_ranging: False
/microstrain_inertial_driver/set_baud: False
/microstrain_inertial_driver/subscribe_rtcm: False
/microstrain_inertial_driver/use_device_timestamp: False
/microstrain_inertial_driver/use_enu_frame: False
/microstrain_inertial_driver/use_ros_time: False
/rosdistro: noetic
/rosversion: 1.16.0

NODES / microstrain_inertial_driver (microstrain_inertial_driver/microstrain_inertial_driver_node)

ROS_MASTER_URI=http://localhost:11311

process[microstrain_inertial_driver-1]: started with pid [76181] [ INFO] [1681215432.423682851]: Running microstrain_inertial_driver version: 3.0.1-3-g527e630 [ INFO] [1681215432.424719925]: Using MIP SDK version: v1.0.0-21-gb1e6278 [ INFO] [1681215432.427061285]: Attempting to open serial port </dev/ttyACM0> at <115200> [ INFO] [1681215432.428922835]: Setting device to idle in order to configure [ INFO] [1681215434.456150201]: Main Connection Info: ####################### Model Name: 3DM-GQ7 Serial Number: 6284.117809 Firmware Version: 1.0.06 ####################### [ INFO] [1681215434.457643199]: Note: Not opening aux port because RTK dongle enable was not set to true. [ INFO] [1681215434.468002272]: Note: The device does not support publishing the topic gnss1/rf_error_detection [ INFO] [1681215434.468036145]: Note: The device does not support publishing the topic gnss1/sbas_info [ INFO] [1681215434.468056678]: Note: The device does not support publishing the topic gnss2/rf_error_detection [ INFO] [1681215434.468071415]: Note: The device does not support publishing the topic gnss2/sbas_info [ INFO] [1681215434.468087199]: Note: The device does not support publishing the topic imu/overrange_status [ INFO] [1681215434.468105846]: Note: The device does not support publishing the topic nav/heading_state [ WARN] [1681215434.516008954]: Requested data rate 1.00000 for descriptor set 0x93 is higher than the max data rate 0. Using max data rate instead [ WARN] [1681215434.516732789]: Requested data rate 1.00000 for descriptor set 0x93 is higher than the max data rate 0. Using max data rate instead [ INFO] [1681215434.585909630]: Note: Not configuring GPIO [ INFO] [1681215434.585991484]: Setting PPS source to 0x0001 [ INFO] [1681215434.587945294]: Setting hardware odometer to: mode = 0, scaling = 0.000000, uncertainty = 0.000000 [ INFO] [1681215434.593952555]: Not configuring factory streaming channels [ INFO] [1681215434.593982657]: Note: The device does not support the SBAS settings command [ INFO] [1681215434.594004168]: Note: The device does not support the nmea message format command [ INFO] [1681215434.594028053]: Setting RTK dongle enable to 0 [ INFO] [1681215434.613393163]: Setting Declination Source to 2 0.230000 [ INFO] [1681215434.617944931]: Setting GNSS1 antenna offset to [0.000000, -0.700000, -1.000000] [ INFO] [1681215434.623948420]: Setting GNSS2 antenna offset to [0.000000, 0.700000, -1.000000] [ INFO] [1681215434.629942970]: Note: The device does not support the vehicle dynamics mode command. [ INFO] [1681215434.629969300]: Note: The device does not support the heading source command. [ INFO] [1681215434.629990462]: Note: The device does not support the filter autoinitialization command. [ INFO] [1681215434.630014627]: Setting autoadaptive options to: level = 2, time_limit = 15000 [ INFO] [1681215434.641970551]: Filter aiding gnss pos/vel = 1 [ INFO] [1681215434.647939679]: Filter aiding gnss heading = 1 [ INFO] [1681215434.653929968]: Filter aiding altimeter = 0 [ INFO] [1681215434.659935343]: Filter aiding odometer = 0 [ INFO] [1681215434.665937226]: Filter aiding magnetometer = 0 [ INFO] [1681215434.671928702]: Filter aiding external heading = 0 [ INFO] [1681215434.671954544]: Note: Not configuring filter relative position [ INFO] [1681215434.671976683]: Setting speed lever arm to: [0.000000, 0.000000, 0.000000] [ INFO] [1681215434.677941271]: Setting wheeled vehicle contraint enable to 0 [ INFO] [1681215434.683947903]: Setting vertical gyro contraint enable to 0 [ INFO] [1681215434.689929672]: Setting GNSS antenna calibration control to: enable = 1, offset = 0.100000 [ INFO] [1681215434.695944335]: Setting filter initialization configuration to: [ INFO] [1681215434.695972901]: auto init = 1 [ INFO] [1681215434.695994342]: initial condition source = 0 [ INFO] [1681215434.696017669]: auto heading alignment selector = 1 [ INFO] [1681215434.696041694]: initial attitude = [0.000000, 0.000000, 0.000000] [ INFO] [1681215434.696061250]: initial position = [0.000000, 0.000000, 0.000000] [ INFO] [1681215434.696086113]: initial velocity = [0.000000, 0.000000, 0.000000] [ INFO] [1681215434.696108044]: reference frame selector = 2 [ INFO] [1681215434.701952783]: Setting sensor to vehicle transformation euler to [0.000000, 0.000000, 0.000000] [ INFO] [1681215434.707940069]: Note: The device does not support the reference point lever arm command [ INFO] [1681215434.707971079]: Note: The settings were not saved as startup settings. Power cycling will remove changes from device [ INFO] [1681215434.707993079]: Resetting the filter after the configuration is complete. [ INFO] [1681215434.733515538]: Setting spin rate to <200.000000> hz [ INFO] [1681215434.733552834]: Resuming the device data streams [ INFO] [1681215434.738049846]: Starting Data Parsing

Environment (please complete the following information):

OS: Ubuntu 20.04
Architecture: x86_64
ROS Version: noetic
Sensor(s): 3DM-GQ7

LORD-MicroStrain / microstrain_inertial

3DM-GQ7 ROS message [/imu/data] is not send msg:sensor_msgs/Imu [orientation] #245

SUMMARY