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szenergy / duro_gps_driver

:blue_book: ROS/ROS2 driver for SwiftNav Duro Inertial GPS / GNSS receivers
BSD 3-Clause "New" or "Revised" License
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Orientation estimate in sensor_msgs/Imu #12

Closed horverno closed 3 years ago

horverno commented 3 years ago

In the /gps/duro/imu message the orientation is zero right now, although it is provided by the sensor in the message /gps/duro/rollpitchyaw. It needs to be converted to geometry_msgs/Quaternion and fill out in a proper way.

http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/Imu.html

enricobellocchio commented 3 years ago

Dear @horverno, do you have any updates on this aspect? do you have any suggestions for implementing this enhancement?

horverno commented 3 years ago

Dear @enricobellocchio i am planning to implement this, it is quite easy to do, but right now i am a bit busy basically what has to be done is to fill the imu_ros_msg.orientation in duro.cpp with the proper quaternions form the sensor

horverno commented 3 years ago

@enricobellocchio i fixed it, but please note orientation is a slower, estimated value compared to the other IMU messages which are not calculated only published as raw data in the correct unit

enricobellocchio commented 3 years ago

Thank you very much!