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lgsvl / simulator

A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
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When trying to get the corrected IMU data the simulation crash #1865

Open jarvishou829 opened 2 years ago

jarvishou829 commented 2 years ago

Hi LGSVL team. After reading your document, I try to get the corrected IMU data by setting corrected topic and corrected frame for IMU sensor. However when running the simulation. The error comes out showing "Error on latest run: Unknown data type CorrectedImuData used for publisher in ROS bridge". I have no idea how to let the simulator pubish corrected IMU. And by the way, does the correctedIMUdata means the IMU data is processed and is more accurate?

EricBoiseLGSVL commented 2 years ago

CorrectedIMU message has GlobalAcceleration and GlobalAngularVelocity that the regular message does not. This is only supported with CyberRT These are calculated in cyber conversions. It is a requirement for apollo and has nothing to do with accuracy. Adding @hadiTab to confirm.