Use optional instead of NaN and do not publish if measurement is not set, e.g., if CRC wrong.
Example configuration IMU, optimized for asynchronous sampling at 200 Hz
Fix self-test
wrap registry write and read function
expose roslaunch parameter as arguments for easy integration
adjust SPI clock speed and set to maximum allowed levels
cleanup SPI transfer function
consolidate burst read function
Remaining issue: At least on the Orin the node only runs at ~80Hz instead of 200Hz. I don't think it's the SPI transfer but something else. To be investigated.
Adis16448 in principle runs on Nvidia Orin now.
Made a few adjustments:
Remaining issue: At least on the Orin the node only runs at ~80Hz instead of 200Hz. I don't think it's the SPI transfer but something else. To be investigated.