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bluespace-ai / bluespace_ai_xsens_ros_mti_driver

xsens ros2 driver
BSD 3-Clause "New" or "Revised" License
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Problems with reading data from the devices MTi-G-710 and MTi-30 #10

Closed rodosha98 closed 2 years ago

rodosha98 commented 2 years ago

According to the manual to this repo, the driver is compatible with the following models of sensor: MTi 1-series, MTi 10-series, MTi 100-series and MTi 600-series. I have two models: MTi-G-710 and MTi-30. I am able to connect to these devices and read the data. However, some topics are empty for these devices. For model MTi-G-710 inside topic /imu/data there is only orientation data(x, y, z, w), linear_acceleration and angular_velocities are set to 0.0. For model MTi-G-710 inside topic /imu/data there are values of orientation and linear accelerations, but angular velocities are 0.0. I tested the devices with official Xsens Software and both of them work correctly. Also I tested this driver with different ROS2 distributions but the results are always the same. Have you encountered such kind of problem with different devices?

vinci-xiao commented 2 years ago

Same problem here! I'm using MTi-3-0I-T.

Steven-GH commented 2 years ago

Hi @rodosha98, @vinci-xiao,

This ROS2 driver and the official ROS1 driver will not configure the messages that are sent out by your MTi; they will simply check what messages are received from the device and add the data to the published topics. If the correct data message is not received, then the fields will simply remain 0. Please check if your device is configured to output the necessary output messages using MT Manager. For instance, for linear acceleration and angular velocity you should configure the device to output Acceleration and Rate of Turn as show below: image

rodosha98 commented 2 years ago

Thank you! It solved the problem.