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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:
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.
The IMU in RVIZ is "alive" and responds to movement
The IMU tf is now child of odom
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?
The text was updated successfully, but these errors were encountered:
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:
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:
Three things happen:
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?
The text was updated successfully, but these errors were encountered: