novatel/novatel_oem7_driver

Add HG4930 AN04 IMU to supported IMUs.

Closed this issue · 2 comments

Is your feature request related to a problem? Please describe.
HG4930 AN04 IMU is not in the oem7_supported_imus.yaml list.

Describe the solution you'd like
Added to the list if possible.

Describe alternatives you've considered
Manually added to list seems to make it work. Would be good to have it already added.

This has been added for implementation in future releases.

The easiest workaround is to set the following ROS parameters in launch file (after including the standard oem7_xx.laucn file)

<param name="/novatel/oem7/supported_imus/68/name" value="Honeywell HG4930 AN04 – 100 Hz" />
<param name="/novatel/oem7/supported_imus/68/rate" value="100" />

<param name="/novatel/oem7/supported_imus/69/name" value="Honeywell HG4930 AN04 – 400 Hz" />
<param name="/novatel/oem7/supported_imus/69/rate" value="400" />

Alternatively, you could also update the config in the driver, it's just more involved:
Modify: novatel_oem7_driver/src/novatel_oem7_driver/sconfig/oem7_supported_imus.yaml**

add these lines:
"68" : { name: "Honeywell HG4930 AN04 – 100 Hz", rate: "100"}
"69" : { name: "Honeywell HG4930 AN04 – 400 Hz", rate: "400"}

This has been added to our list of fixes for future releases.