search

luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
MIT License
239 stars 173 forks source link

[BUG] {There is no orientation when using imu related topics} #483

Closed abloomyt closed 5 months ago

abloomyt commented 5 months ago

Problem description: My camera's type is oak-d pro, and my depthai-ros's version is Release v2.8.2 Noetic. I want to use imu topic to produce orientation. Whether I use /stereo_inertial_publisher/imu in depthai_examples/launch/stereo_inertial_node.launch, or I use /oak/imu/data in depthai_ros_driver/launch/pointcloud.launch, I can't generate orientation, but can produce angular velocity and linear velocity. Just like the picture below: 2aa88993928994096e60a75087740f8 I don't know what went wrong.I would appreciate it if you could give me an answer.

Serafadam commented 5 months ago

Hi, you can use depthai_ros_driver with specific IMU parameters to enable rotation, stereo_inertial_node serves as a generic example since not all IMU sensors can have the rotation part enabled. More on IMU configuration here

abloomyt commented 5 months ago

I really appreciate your help. My problem has been solved. Can I ask you a question again, why is the covariance of rotation set to -1? What is the meaning of -1?

Serafadam commented 5 months ago

Hi, unfortunately the datasheets are not explicit about covariance but since the orientation is a fused estimate I don't think it matters in that case. More information on the IMU sensors can be found here.

abloomyt commented 5 months ago

Thank you very much for your reply.