Issue link (if present): https://github.com/luxonis/depthai-ros/issues/446
Issue description: Currently we enable magnetometer sensor when enabling rotation vector, which lowers the output frequency. This PR changes it so that magnetometer readings are being output only when the IMU message type is set to contain the mag data. Additionally, rotation vector types are parameterized now.
Related PRs
Changes
ROS distro Noetic
List of changes:
Add rotation vector types
New template specialization in IMUConverter for converting three messages
Overview
Author: @Serafadam
Issue
Issue link (if present): https://github.com/luxonis/depthai-ros/issues/446 Issue description: Currently we enable magnetometer sensor when enabling rotation vector, which lowers the output frequency. This PR changes it so that magnetometer readings are being output only when the IMU message type is set to contain the mag data. Additionally, rotation vector types are parameterized now. Related PRs
Changes
ROS distro Noetic List of changes:
Testing
Hardware used: OAK-D-PRO-W Depthai library version: 2.20
Visuals from testing
Add screenshots/gifs/videos from RVIZ or other visualizers demonstrating the effect of the changes when applicable.