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ethz-asl / ethzasl_xsens_driver

Driver for xsens IMUs
BSD 2-Clause "Simplified" License
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Is the string output the only way to get the delta v,q when the acc. and the ang. rate enabled? #97

Open kubelvla opened 5 years ago

kubelvla commented 5 years ago

Hi @fcolas and others contributing to this driver,

Sorry if I missed this in the documentation but I've observed that if you set the MTi unit to output only delta v and q, they are published inside the /imu/data message. However, if you also want the linear acceleration and the angular rate values, the delta values are not published anymore except for the parsed string output. Do I understand this correctly?

Moreover, if I was to propose a pull request with extra topics, what would be the optimal message types? _geometrymsgs/QuaternionStamped and _geometrymsgs/Vector3Stamped?

Thanks for info and your opinions

fcolas commented 5 years ago

Dear @kubelvla, you are right: when both delta v and linear acceleration are requested only one is published in /imu/data (the last one, I think, not necessarily the linear acceleration).

I'd welcome a PR to improve this and the topic types you propose are perfect.