Port PR #153 (add support for onboard orientation estimation) to ROS2

ros-drivers / phidgets_drivers

ROS drivers for various Phidgets devices

Other

45 stars 61 forks source link

Port PR #153 (add support for onboard orientation estimation) to ROS2 #168

Closed mintar closed 11 months ago

mintar commented 12 months ago

Still work in progress. I don't have a MOT109, so I can't test this PR.

mklpiening commented 11 months ago

I just tested the pr on ros2 humble woth a MOT0109. There is still a typo in the phidgets_spatial spatial-launch.py. After using the "params" dict for the node parameters instead of "do_params" in line 57, it works well and I get the internally estimated orientation when enabling the "use_orientation" option.

Thus, this PR can be merged from my side.

mintar commented 11 months ago

Thanks for testing! I've fixed up the code with your suggestion and merged the PR.

samerhanoun commented 11 months ago

Hi Martin, Tested your latest merged code (that you merged 5 days ago for both phidgets_spatial and phidgets_api) using a PhidgetSpatial Preceision 3/3/3 MOT0110_0 on ROS2 Humble. Launching using use_orientation: true via spatial-launch.py, the code fails to set the magnetometer gain. Please see attached phots.

Regards, Samer 20231122_155003 launch spatial-launch py with 'use_orientation'_ True

mintar commented 11 months ago

I've just pushed a PR (#169) that should fix your problem. Please test and report back.

samerhanoun commented 11 months ago

Works now.