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itu-auv / auv-software

ITU AUV Team main software stack | This project is currently being migrated from a private legacy repository
https://auv.itu.edu.tr
BSD 3-Clause "New" or "Revised" License
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Add xsens mti imu driver #19

Closed senceryazici closed 1 month ago

senceryazici commented 1 month ago

Can be tested with roslaunch auv_bringup start_xsens_driver.launch.xml port:=/dev/auv_imu

senceryazici commented 1 month ago

@YunusDiler this PR needs physical hardware testing with mti device

YunusDiler commented 1 month ago

IMU Data and Topic Hz Information

I have tested the IMU, and here are the results:

IMU Data

header: 
  seq: 4530
  stamp: 
    secs: 1717164188
    nsecs: 620239230
  frame_id: "turquoise/base_link/imu_link"
orientation: 
  x: -0.0009733402403071523
  y: 0.0032344360370188956
  z: 0.004042990971356631
  w: 0.9999861121177674
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: 
  x: -0.004512432496994735
  y: 0.004144745878875256
  z: 0.010715060867369177
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration: 
  x: -0.04856431111693383
  y: -0.017923608422279358
  z: 9.821988105773928
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

rostopic hz

Topic Rate Min Delta Max Delta Std Dev Window
/turquoise/sensors/imu/mag_stamped 100.0 0.003506 0.01529 0.000879 1913
/turquoise/sensors/imu/data 100.0 0.00418 0.01532 0.0008338 1913
/turquoise/sensors/imu/pressure 50.0 0.01625 0.02327 0.0008541 1911
/turquoise/sensors/imu/temperature 100.0 0.004071 0.01546 0.0008798 1911
senceryazici commented 1 month ago

@YunusDiler Good, I also tested the covariances. Will merge upon successful CI.