Fusion status not updating

fixposition / fixposition_driver

ROS Driver for Fixposition Vision-RTK 2 Visual Inertial GNSS Positioning Sensor

MIT License

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Fusion status not updating #60

Closed stephen-cpr closed 2 months ago

stephen-cpr commented 3 months ago

The Vrtk fusion status field appears to be reporting Visual-inertial-GNSS fusion (4) even when fusion isn't running / there isn't a fix yet. This is causing some downstream issues because this check always passes and the driver will publish an invalid TF for T_ecef_enu0 (mentioned in this PR)

fgarciacardenas commented 3 months ago

Hi @stephen-cpr. Thank you for bringing this up. We are currently reworking the ROS driver and will make sure to add your proposed change to the new version :smile:

fgarciacardenas commented 2 months ago

This problem has been patched on the ROS driver. It occurred due to empty TF messages being sent from the device after a reset. The source of this issue has been patched for the next stable release (due October). I am closing this ticket.