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microstrain_inertial_driver_common's Issues

Repeated "Warning: TF_REPEATED_DATA" messages on ROS Noetic

Using the microstrain node with ROS Noetic produce many Warning: TF_REPEATED_DATA messages that flood the console. From the discussion at #467 from geometry2, the current solution is to make sure you don't publish the TF with the same timestamp. Looking at publishers.cpp|212, it seems like the only requirement to publish a new TF is that the filter_relative_odom_pub_ be updated.

However, handleFilterPositionLlhUncertainty does not update the timestamp for the Transform while updating the covariances, producing multiple TFs with the same data.

Two ways to tackle this:

  1. Add a second check to the TF broadcast that checks if the TF header timestamp is different. (requires storing the old value)
  2. Update the TF header in handleFilterPositionLlhUncertainty in addition to the odom header.

Cannot set imu_data_rate >100Hz for CV7

Hi,

I'm trying to set the imu_data_rate to 250 Hz in my parameter file and I keep getting the following error
'terminate called after throwing an instance of 'mscl::Error_Communication'. The IMU is capable of data rates up to 1kHz, so I'm not sure why there seems to be a 100Hz limit built into the ROS driver. Can anyone assist me with diagnosing this problem?

Thanks

ModuleNotFoundError: No module named 'microstrain_inertial_rqt.utils' unless using 2.5.0 

roslaunch microstrain_inertial_rqt quickview.launch
...
RosPluginProvider.load(microstrain_inertial_rqt/Quickview) exception raised in __builtin__.__import__(microstrain_inertial_rqt.quickview, [Quickview]):
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 79, in load
    module = __builtin__.__import__(
  File "/opt/ros/noetic/lib/python3/dist-packages/microstrain_inertial_rqt/quickview.py", line 3, in <module>
    from .utils.constants import _MICROSTRAIN_ROS_VERISON
ModuleNotFoundError: No module named 'microstrain_inertial_rqt.utils'

PluginManager._load_plugin() could not load plugin "microstrain_inertial_rqt/Quickview":
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/plugin_handler.py", line 102, in load
    self._load()
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/plugin_handler_direct.py", line 55, in _load
    self._plugin = self._plugin_provider.load(self._instance_id.plugin_id, self._context)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui_py/ros_py_plugin_provider.py", line 61, in load
    return super(RosPyPluginProvider, self).load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 90, in load
    raise e
  File "/opt/ros/noetic/lib/python3/dist-packages/rqt_gui/ros_plugin_provider.py", line 79, in load
    module = __builtin__.__import__(
  File "/opt/ros/noetic/lib/python3/dist-packages/microstrain_inertial_rqt/quickview.py", line 3, in <module>
    from .utils.constants import _MICROSTRAIN_ROS_VERISON
ModuleNotFoundError: No module named 'microstrain_inertial_rqt.utils'

I did a source checkout and went back to 2.5.0 and that looks to work

These are the apt installed versions:

ii  ros-noetic-microstrain-inertial-driver          3.0.1-1focal.20230216.003402                                        amd64        The ros_mscl package provides a driver for the LORD/Microstrain inertial products.
ii  ros-noetic-microstrain-inertial-driver-dbgsym   3.0.1-1focal.20230216.003402                                        amd64        debug symbols for ros-noetic-microstrain-inertial-driver
ii  ros-noetic-microstrain-inertial-examples        3.0.1-1focal.20230215.233316                                        amd64        Example listener for Parker LORD Sensing inertial device driver ros_mscl (C++).
ii  ros-noetic-microstrain-inertial-examples-dbgsym 3.0.1-1focal.20230215.233316                                        amd64        debug symbols for ros-noetic-microstrain-inertial-examples
ii  ros-noetic-microstrain-inertial-msgs            3.0.1-1focal.20230210.214240                                        amd64        A package that contains ROS message corresponding to microstrain message types.
ii  ros-noetic-microstrain-inertial-rqt             3.0.1-1focal.20230215.234432                                        amd64        The microstrain_inertial_rqt package provides several RQT widgets to view the status of Microstrain devices

(and now that I look I see this is the wrong repo to report this, it should be https://github.com/LORD-MicroStrain/microstrain_inertial or microstrain_inertial_rqt_common)

Microstrain inertial driver update from 2.6.0 to 3.0.0 no longer allows to hit 200Hz on 3DMGX5-AHRS

Fairly simple issue (I hope)
Our team had been using version 2.6.0 of the Microstrain Inertial Driver to collect imu data. Our custom config file set the imu_data_rate field to 200.
The method of measuring the actual rate is by inspecting a rosbag where we bag all of the data on the topic /imu/data, count the messages received, and divide by the length of the rosbag.
Upon updating to version 3.0.0 (installed from apt) we cannot hit this rate using the same configuration file. We are seeing numbers in the range 150-190 now.

Has anyone else seen rate problems after updating the driver version?
Maintainers, please let me know what else is needed for an issue diagnosis...

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