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ros-drivers / phidgets_drivers

ROS drivers for various Phidgets devices
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API of MOT0109 and MOT0110 is different #163

Closed Assume-Zhan closed 1 year ago

Assume-Zhan commented 1 year ago

Hello,

I'm using the Phidgets driver spatial precision MOT0110, and I'm encountering an error when I use the "use_orientation" parameter. Specifically, I receive the following error message:

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

Although this param is set before MOT0109 in README, I still try to find whats going wrong :

Even though the parameter is set before MOT0109 in the README, I'm still having issues. Upon further investigation, I discovered that the Phidget API uses an unsupported function for MOT0110, possibly at this line of code: HERE

It appears that the MOT0110 API does not have a PhidgetSpatial_setAlgorithmMagnetometerGain() function, whereas MOT0109 does.

@mintar, is there any way to resolve this issue? Or have I misunderstood something?

mintar commented 1 year ago

AFAIK, the MOT0110 doesn't support onboard orientation estimation, so the solution is to set use_orientation to false.

Assume-Zhan commented 1 year ago

Ok, thank you !