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ethz-asl / ethzasl_xsens_driver

Driver for xsens IMUs
BSD 2-Clause "Simplified" License
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Run command SetNoRotation #31

Closed athtest800 closed 7 years ago

athtest800 commented 7 years ago

Hello! How to run command SetNoRotation at startup so to calibrate the MTi-3? It is in mtdevice.py Thank you

fcolas commented 7 years ago

Well, so far, this method isn't used anywhere. You can always use mtdevice as a module in an interactive Python session and manually call this function but I believe it's not what you want.

If you'd like to have this run each time you launch the ROS node, I guess the cleanest would be to have a new node parameter ~no_rotation_duration defaulting to 0 and invoke the SetNoRotation procedure if it's not 0. Would that suit you? Can you try it out and propose a pull request?

fcolas commented 7 years ago

Ok, I did it. Can you try the code on the no_rotation_on_startup branch and tell me if it solves your issue?

fcolas commented 7 years ago

Any news on that front? Where you able to test the branch?

athtest800 commented 7 years ago

It works only if I set seconds as String self.mt.SetNoRotation('10') It does not work if self.mt.SetNoRotation(10)

fcolas commented 7 years ago

Are you sure of that? I cannot test it here but from my code, self.mt.SetNoRotation('10') should give an exception from struct.pack such as cannot convert argument to integer. When you say it does not work with SetNoRotation(10) what is the error?

athtest800 commented 7 years ago

Hi! Sorry, it was my fault. It runs OK!! Thank you again!!