search

cubicleguy / ess_imu_driver2

Latest ROS2 Linux driver package for EPSON IMU using UART or SPI interface (includes C driver)
Other
0 stars 1 forks source link

IMU data timestamp jump #2

Open JiaheXu opened 4 days ago

JiaheXu commented 4 days ago

Hi Epson developer,

I am using an Epson G370 IMU using UART-USB adaptor, the EXT2 pin is connected to a PPS source. When I check the time stamp, the sec part jumps back and forth for example it shows XXX522, XXX523, XXX523, XXX521, the sec part is not monotonic. How to solve this issue?

cubicleguy commented 4 days ago

Hello,

  1. Can you confirm that you are using "tc_launch.py" to launch the driver? i.e. ros2 launch ess_imu_driver2 tc_launch.py

This will set the time_correction_en parameter to "true".

You should be able to see id the parameter is set to true by reviewing the console output you launch the driver.

[ess_imu_driver2_node-1] [INFO] [1722455573.931168183] [epson_node]: frame_id: imu_link [ess_imu_driver2_node-1] [INFO] [1722455573.931458588] [epson_node]: time_correction_en: 1 [ess_imu_driver2_node-1] [INFO] [1722455573.931508699] [epson_node]: burst_polling_rate: 4000.0

  1. Can you confirm that the 1PPS signal is being sent properly to the IMU? The behaviour you describe with the "sec" seems like the signal is not being detected on the EXT2 pin.

  2. Let me also check on my side while I setup some the hardware and PPS and analyze the timestamps. Please wait.

If you need to reach me then please email directly to suggest debugging ideas.