Microstrain3DM-GX5-25 doesn't giving Orientation

asked 2021-03-16 02:58:08 -0500

Arun_kumar gravatar image

updated 2021-03-16 02:59:59 -0500

Hi everyone,

I'm running Ubuntu 18.04 on Jetson nano board and running ROS melodic . I am going to use LORD Microstrain 3DM-GX5-25 as an IMU device in my robot . I downloaded the driver for the IMU in the below link
https://github.com/sjphilli/microstra...

I added the package to my workspace and when I run the launch file I am receiving messages in the imu/data topic but when I rotate my robot physically the imu_link tf is not rotating in the rviz when I checked but rviz receiving messages.

Here it is my imu.launch file

<?xml version="1.0"?>


<launch>
  <node name="microstrain_3dm_gx5_25_node"
     pkg="microstrain_3dm_gx5_45"
     type="microstrain_3dm_gx5_25_node"
     output="screen">
  <param name="port" value="/dev/ttyACM0" type="str" />
  <param name="baudrate" value="115200" type="int" />
  <param name="device_setup" value="true" type="bool" />

  <!-- General Settings -->
  <param name="readback_settings" value="true" type="bool" />
  <param name="save_settings" value="true" type="bool" />
  <param name="tf_ned_to_enu" value="true" type="bool" />

  <!-- Additional data settings -->
  <param name="publish_rpy" value="true" type="bool" />
  <param name="publish_mag" value="true" type="bool" />

  <!-- Complementary Filter Settings-->
  <param name="publish_cf" value="false" type="bool" />
  <param name="cf_rate" value="100" type="int" />

  <!-- EKF Settings-->
  <param name="auto_init" value="true" type="bool" />
  <param name="imu_frame_id" value="imu_link" type="str" />

  <!-- Declination source 1=None, 2=magnetic, 3=manual -->
  <param name="declination_source" value="1" type="int" />

  <!--<param name="declination" value="0.23" type="double" />-->
  <param name="ekf_rate" value="100" type="int" />
  <param name="dynamics_mode" value="1" type="int" />
 </node>
 </launch>
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