openhumanoids / microstrain Goto Github PK

this imu module is producing its own version of ins type, microstrain::ins_t, but most of pronto_distro modules are migrating to bot_core messages, and it defines a bot_core::ins_t itself.

As long as the two definitions are the same, a module which tries to decode a microstrain::ins_t into a bot_core::inst_t should succeed.

But if in the future for any reason would they will differ, either we should account for the microstrain case only, or modify the driver to use bot_core::ins_t.

Should we keep microstrain::ins_t to have this repo it self-contained, or migrate to bot_core::ins_t?

I've just tried plugging in my GX3-25 and running this driver.

From bot spy I see a constant frame rate of 500 Hz (even though the default or manually selected option is 100 Hz) and that the acceleration value oscillates around -1.96 m/s^2.

The ROS driver is outputting a value of -9.78 m/s^2 which is kind of OK.

Have you ever experienced something similar?

I'm using latest version and I tried both the version pointed by inside pronto-distro and a fresh, cloned version of this repo.