Irregular and slow IMU rate measurement
Hello to the ROS community,
I am currently working on an indoor robotics project with a Jackal rover from ClearPath and I am getting issues with the IMU. The output rate is very irregular (min 40Hz, max 90Hz) and quite slow (average of 50Hz). However, it seems that the hardware is able to perform a higher rate, in the range of kHz.
Is this result normal ? If not, do you have an idea of the problem and what rate I should expect ?
Any help is welcome.
As you are experiencing this problem with an actual product (ie: the Jackal), would it not make sense to pose this question to Clearpath and / or the distributor directly?
ClearPath actually directed me to this forum ...
Really? That is definitely not what I would've expected. Did they say why?
Especially this part:
would seem to be at least partially because of configuration. Only CP can tell you about that. Not us.
No specific reasons were given unfortunately. I also asked what is the best measurement rate I could expect and they did not answer neither.
The measured rate should be 50Hz. Which version of the Jackal's firmware is on your robot? (It can be frond on the
statustopic.I cannot get the firmware version with a 'rostopic echo /status' command, but the hardware id.
The hardware id is the firmware version.
hardware_id: 8d030be20f74d66847c1c95229e719830ceda424