some signals are missing (/imu/data, /imu/data_raw)

[kimth1757]

Hi, I'm taehan. I just started using Novatel SPAN solution.

I installed the novatel_oem7_driver and it worked well. I report some problems, so please suggest a solution.

1. Issue #1

• I can receive /imu/data topics, but all the signals are output as 0. 2. Issue #2
• I can receive /imu/data_raw topics, but orientations are output as 0. 3. os
• ubuntu 20.04 4. span solution
• pwrpak7 + KVH-1750 5. std_init_commands.yaml

Do not remove these messages -----

• "LOG BESTPOSB ONTIME 0.1"
• "LOG BESTVELB ONTIME 0.1"
• "LOG BESTUTMB ONTIME 1"
• "LOG PPPPOSB ONTIME 1"
• "LOG HEADING2B ONNEW"
• "LOG PSRDOP2B ONCHANGED"
• "LOG INSPVASB ONTIME 0.02"
• "LOG INSPVAXB ONTIME 1"
• "LOG CORRIMUSB ONTIME 0.01"
• "LOG INSSTDEVB ONTIME 1"
• "LOG BESTGNSSPOSB ONTIME 0.1"
• "LOG RAWIMUSXB ONNEW"

--------------------

• "LOG TIMEB ONTIME 1" # Can be used as a 'heartbeat' message.

Post-Processing Messages; not directly used to generate ROS messages.

• "LOG INSUPDATESTATUSB ONNEW"
• "LOG RAWEPHEMB ONNEW"
• "LOG GLOEPHEMERISB ONNEW"
• "LOG BDSEPHEMERISB ONNEW"
• "LOG GALFNAVEPHEMERISB ONNEW"
• "LOG GALINAVEPHEMERISB ONNEW"
• "LOG RANGEB ONTIME 1"

[novatel-applications-engineering]

Hello, please send these details to support.novatel@hexagon.com and we will be happy to look into this for you. Please also include any datasets that show the issue if you have them.

[kimth1757]

@novatel-applications-engineering Thanks for your reply. I made 9-DOF imu raw data by combination of /imu/data_raw and /novatel/oem7/inspva messages and it worked. Best regards, Taehan.