ros-drivers/ros2_ouster_drivers

Does the driver publish orientation of the IMU?

Sollimann opened this issue · 2 comments

Sollimann commented

I'm wondering if the ros2 driver produces orientation of the IMU on the /imu topic, or do I need to run the IMU-topic through a complementary filter lick Madgwick to produce the orientation?

I found this old thread here saying here that the ouster-lidar does not provide orientation, but it might be different for this particular ouster driver?

Thanks!

bertaveira commented

It does send the message but like the thread says it does not provide value since the IMU does not estimate it. I can confirm that angular velocity and acceleration work but the velocity is quite bad (probably due to not having a GPS connected to it).

You can see what the IMU sends in this screenshot:
image
All orientation messages are either 0 or 1 constant.

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Sollimann commented

Thanks for the answer!