In standard ROS messages the covariance should be set to zero if unknown.
The first covariance value should be set to -1 to indicate that the associated value is not available.
We should update the implementation to comply with this convention.
Update standard IMU message to either:
set the first covariance element to -1 if no orientation is output by the device
set the covariance diagonal to square the returned estimated standard deviation (Roll, Pitch, Yaw)
set both delta angles/velocities to zero covariances (unknown)
In standard ROS messages the covariance should be set to zero if unknown. The first covariance value should be set to -1 to indicate that the associated value is not available.
We should update the implementation to comply with this convention.
Update standard IMU message to either: