novatel/novatel_oem7_driver

IMU covariance reporting incorrectly on 2.3.x

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garyedwards commented

Describe the bug
Using the latest 2.3.x branch linear_acceleration_covariance[0] and angular_velocity_covariance[0] report -1.0 which indicates no estimate for linear_acceleration and angular_velocity elements.

However the driver does publish data for these elements and I believe the driver should publish a covariance matrix of all zeros instead which will be interpreted as "covariance unknown".

See the official api docs

To Reproduce
Steps to reproduce the behavior:

  1. Checkout the 2.3.x branch
  2. Run the driver
  3. rostopic echo /gps/imu
  4. See error

Expected behavior
If the covariance is unknown a covariance matrix of all zeros should be published.

Environment (please complete the following information):

  • OS: ROS Melodic on Ubuntu Bionic
  • 2.3.x
novatel-applications-engineering commented

Hi @garyedwards, thank you for reporting this. We have added it to our queue of issues to fix and will provide the fix in a future release.