/gps_pose having wrong orientation values

[lrthorita]

I am running "gps_to_pose_conversion_node.cpp" to get a pose, but It isn't updating the orientation values on the /gps_pose . As I move the GPS I can see it changing the position values, but when I move the IMU sensor it doesn't change the orientation values.

When I check the /tf message, it shows the rotation values as NAN.

Have anyone had this problem before?

[marco-tranzatto]

Hi Irthoriata,

Are you providing the IMU topic to the node?
For example, are you remapping your IMU topic to the one subscribed by gps_to_pose_conversion_node? https://github.com/ethz-asl/geodetic_utils/blob/master/src/gps_to_pose_conversion_node.cpp#L241

[lrthorita]

Hi @marco-tranzatto.

Yes, I am providing the IMU topic to the node.
Here is the launch file I wrote to it:

<launch>

  <node name="nmea_navsat_driver" pkg="nmea_navsat_driver" type="nmea_serial_driver" output="screen">
      <rosparam>
        port: /dev/ttyUSB1
      </rosparam>
    </node>

  <node name="set_gps_reference" pkg="geodetic_utils" type="set_gps_reference_node" output="screen">
        <remap from="gps" to="/fix" />
    </node>

  <node name="xsens_imu" pkg="xsens_driver" type="mtnode.py" output="screen">
    <rosparam>
      device: /dev/ttyUSB0
      baudrate: 9600
    </rosparam>
  </node>

  <node name="gps_to_pose_conversion" pkg="geodetic_utils" type="gps_to_pose_conversion_node" output="screen">
        <remap from="gps" to="/fix" />
        <remap from="imu" to="/imu/data"/>

        <rosparam>
          frame_id: world
          trust_gps: true
          publish_pose: true
        </rosparam>
    </node>

</launch>

[marco-tranzatto]

@lrthorita I can't see any strange behavior form the code. Are you sure your topic "/imu/data" is actually being published?

[lrthorita]

@marco-tranzatto Yes, it's publishing messages perfectly.
This is the output of rostopic echo /imu/data:

takeshi@takeshi-K55VM ~ $ rostopic echo /imu/data
header: 
  seq: 30530
  stamp: 
    secs: 1511876028
    nsecs: 148955106
  frame_id: /base_imu
orientation: 
  x: 0.0
  y: 0.0
  z: 0.0
  w: 0.0
orientation_covariance: [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
angular_velocity: 
  x: 0.000719558492503
  y: -0.00120809301734
  z: -0.00211894512176
angular_velocity_covariance: [0.0004363323129985824, 0.0, 0.0, 0.0, 0.0004363323129985824, 0.0, 0.0, 0.0, 0.0004363323129985824]
linear_acceleration: 
  x: 0.00102016329765
  y: 0.00111168622971
  z: 0.0244359374046
linear_acceleration_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004]
---
header: 
  seq: 30531
  stamp: 
    secs: 1511876028
    nsecs: 149713039
  frame_id: /base_imu
orientation: 
  x: 0.0
  y: 0.0
  z: 0.0
  w: 0.0
orientation_covariance: [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
angular_velocity: 
  x: -0.00376797087219
  y: -0.00078467642847
  z: -0.00111683072246
angular_velocity_covariance: [0.0004363323129985824, 0.0, 0.0, 0.0, 0.0004363323129985824, 0.0, 0.0, 0.0, 0.0004363323129985824]
linear_acceleration: 
  x: 0.000989079475403
  y: 0.00110925734043
  z: 0.0244139283895
linear_acceleration_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004]

But the orientation values keeps in zeros, although the angular_velocity changes when I move the IMU sensor...
Maybe the problem isn't in this package at all. I'll check the package I'm using to get IMU data.