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ros-drivers / ros2_ouster_drivers

ROS2 Drivers for the Ouster OS-0, OS-1, and OS-2 Lidars
https://ouster.com/
Apache License 2.0
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Does the driver publish orientation of the IMU? #91

Closed Sollimann closed 2 years ago

Sollimann commented 2 years ago

I'm wondering if the ros2 driver produces orientation of the IMU on the /imu topic, or do I need to run the IMU-topic through a complementary filter lick Madgwick to produce the orientation?

I found this old thread here saying here that the ouster-lidar does not provide orientation, but it might be different for this particular ouster driver?

Thanks!

bertaveira commented 2 years ago

It does send the message but like the thread says it does not provide value since the IMU does not estimate it. I can confirm that angular velocity and acceleration work but the velocity is quite bad (probably due to not having a GPS connected to it).

You can see what the IMU sends in this screenshot: image All orientation messages are either 0 or 1 constant.

Sollimann commented 2 years ago

Thanks for the answer!