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Fixit-Davide avatar Fixit-Davide commented on September 23, 2024

Try to see if the imu_zupt node subscribes correctly to the rover_status's topic while playing the rosbag.
Check also that the imu_zupt node's config file contains the correct name of the topic.
https://github.com/roncapat/RoXY-AutoNav-Rover-Launchers/blob/humble/master/launch/localisation_zed_record.launch.py

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giafranchini avatar giafranchini commented on September 23, 2024

The rosbag that I mentioned publishes already the topic /localisation/imu/zupt_status, so I have no control on config parameters. I'll do some tests with new data in the next days.

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Fixit-Davide avatar Fixit-Davide commented on September 23, 2024

I think that I found the bug.
robot_status sets the flag to True if the rover is not moving. Imu_zupt enters the imu_callback only if the condition is set to False.
Just remove the not in the if() condition.

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roncapat avatar roncapat commented on September 23, 2024

Might be better to have a PR with a test case & the proposed fix.

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