Although the rate for the bno055_left sensor is set to 20hz, it actually publishes at a rate of 5hz. After much debugging, @ryan-summers and myself discovered it's due to latency of the bno055 making several serial requests to the simulator_bridge node. Speeding up the rate of the simulator_bridge node reduces the latency, but this problem will always exist.
After some deliberation, we propose that the bno055 emulator be eliminated, and just have the simulator_bridge publish orientation data to its own topic that the imu node then forwards.
ryan-summers
commented
6 years ago
Although the rate for the bno055_left sensor is set to 20hz, it actually publishes at a rate of 5hz. After much debugging, @ryan-summers and myself discovered it's due to latency of the bno055 making several serial requests to the simulator_bridge node. Speeding up the rate of the simulator_bridge node reduces the latency, but this problem will always exist.
After some deliberation, we propose that the bno055 emulator be eliminated, and just have the simulator_bridge publish orientation data to its own topic that the imu node then forwards.