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BE imu_link tf should not be child of odom · Issue #52 · hippo5329/linorobot2_hardware · GitHub
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imu_link tf should not be child of odom #52

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pitosalas opened this issue Jan 26, 2025 · 0 comments
Closed

imu_link tf should not be child of odom #52

pitosalas opened this issue Jan 26, 2025 · 0 comments

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@pitosalas
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pitosalas commented Jan 26, 2025

This is a pretty subtle issue that I've spent a bit of time trying to solve. I think I got this diagnosis correct but I am not 100% sure.

I was working to locate where I can flip the IMU TF over so that it aligns with my robot build. I have found (without modifying anything---I think) that the imu_link tf is a child of odom which is incorrect. You can see that here:

Image

Now this only seems to happen when I enable the magnetometer fusion. In other words, running

ros2 launch linorobott2/bringup bringup.xxxx

It comes up correctly as a child of base_link. However when I look in Rviz, the tf is not changing at all that is it is not being controlled by the imu.

Once I enable Madgwick as required:

launch:
  - include:
      file: "$(find-pkg-share linorobot2_bringup)/launch/bringup.launch.py"
      arg:
        - name: base_serial_port
          value: "/dev/ttyUSB0"
        - name: micro_ros_baudrate
          value: "921600"
        - name: madgwick
          value: "true"
        - name: orientatoin_stddev
          value: "0.01"

Image

Three things happen:

  1. The IMU in RVIZ is "alive" and responds to movement
  2. The IMU tf is now child of odom
  3. And the IMU has the z axis pointing down, which is as expected because my gendrv board is mounted on top of the board (this is true for /imu/data_raw but /imu/data has it right side up (see image.)

So the question is, which node is publishing updates to the tf for /imu_base? Because it is setting the parent to /odom and also how can I change its orientation to account for my placement of the gendrv board.

Have you gone this deep into these issues?

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