Spatial: Failed to set algorithm magnetometer gain: Operation Not Supported

[ammarazab1]

Hello,

When I run the spatial.launch with (use_orientation=true) this error occured

[ INFO] [1678780967.616305822]: Loading nodelet /PhidgetsSpatialNodelet of type phidgets_spatial/PhidgetsSpatialNodelet to manager imu_manager with the following remappings: 
[ INFO] [1678780967.617884863]: waitForService: Service [/imu_manager/load_nodelet] has not been advertised, waiting... 
[ INFO] [1678780967.621521091]: Loading nodelet /ImuFilterNodelet of type imu_filter_madgwick/ImuFilterNodelet to manager imu_manager with the following remappings: 
[ INFO] [1678780967.623138646]: waitForService: Service [/imu_manager/load_nodelet] has not been advertised, waiting... 
[ INFO] [1678780967.640097989]: Initializing nodelet with 8 worker threads. 
[ INFO] [1678780967.643929171]: waitForService: Service [/imu_manager/load_nodelet] is now available. 
[ INFO] [1678780967.648452280]: Initializing IMU Filter Nodelet 
[ INFO] [1678780967.649313458]: Starting ImuFilter 
[ INFO] [1678780967.653332179]: Using dt computed from message headers 
[ INFO] [1678780967.653355960]: The gravity vector is kept in the IMU message. 
[ INFO] [1678780967.659930734]: waitForService: Service [/imu_manager/load_nodelet] is now available. 
[ INFO] [1678780967.662224063]: Imu filter gain set to 0.100000 
[ INFO] [1678780967.662249266]: Gyro drift bias set to 0.000000 
[ INFO] [1678780967.662262572]: Magnetometer bias values: 0.000000 0.000000 0.000000 
[ INFO] [1678780967.672481123]: Initializing Phidgets SPATIAL Nodelet 
[ INFO] [1678780967.672569152]: Starting Phidgets SPATIAL 
[ INFO] [1678780967.672585845]: Opening spatial 
[ INFO] [1678780967.680755154]: Connecting to Phidgets Spatial serial 700822, hub port 0 ... 
[ INFO] [1678780967.691228713]: Connected 
[ INFO] [1678780967.692650948]: Calibrating IMU, this takes around 2 seconds to finish. Make sure that the device is not moved during this time. 
[ INFO] [1678780969.693107665]: Calibrating IMU done. 
[ERROR] [1678780969.694381734]: Spatial: Failed to set algorithm magnetometer gain: Operation Not Supported 
[ INFO] [1678780969.940675591]: Phidget Spatial detached. 
[FATAL] [1678780970.199846764]: Failed to load nodelet '/PhidgetsSpatialNodelet of type phidgets_spatial/PhidgetsSpatialNodelet to manager imu_manager'
[PhidgetsSpatialNodelet-3] process has died [pid 114660, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet load phidgets_spatial/PhidgetsSpatialNodelet imu_manager __name:=PhidgetsSpatialNodelet __log:=/home/roboads/.ros/log/9b6ec6b2-c23e-11ed-9561-1b7d426659eb/PhidgetsSpatialNodelet-3.log]. log file: /home/roboads/.ros/log/9b6ec6b2-c23e-11ed-9561-1b7d426659eb/PhidgetsSpatialNodelet-3*.log 

I use new package and phidgets22 library libphidget22-1.13.20230224

Thanks in advance

[mintar]

What version of Phidgets Spatial do you have? From the README:

• use_orientation (bool) - Use the phidget spatials onboard orientation estimation; Just available on MOT0109 onwards. Set to false for older versions. Defaults to false.

[ammarazab1]

Ooh I doesn't read all parameter in Readme file so I using MOT0110_0 so it doesn't work

a last question is the orientation data output from imu filter is opposite to correct direction like this photo

[mintar]

I'm not quite sure I understand your second question, but perhaps this video helps understand the orientations of the IMU. Note that the IMU has to be "upside down" for the z axis to point up:

https://user-images.githubusercontent.com/320188/224983807-79398d93-8366-40b1-8bf6-0e1055e75d9f.mp4

[ammarazab1]

Thanks @mintar I rotate the IMU to be all axis similar to rviz imu visualize and all thing going well Thanks and I will close the Issues.