Good morning,

So after spending a few days trying to debug my code for waypoint navigation I stumbled onto what I believe is an error in either the hardware of the system or its configuration. It seems that the IMU is not working properly, when I rostopic echo /imu/mag I get the following:

X: 0.0 Y: 0.0 Z: 0.0

for all running time.

With that, I tried to do an IMU calibration with the following command: rosrun jackalbase calibratecompass, but I get the following error:

Unable to compute calibration from recorded bag.

So I looked into the output file from this calibration attempt and the .log file has the following error in it:

AttributeError: 'sensormsgs_MagneticField' object has no attributes

Further, I also have another jackal (both just recently received) and I get the same result on that one as well.

Thanks for you help and suggestion,

Sage

Requested info:

rosnode info /imu_filter

Node [/imufilter] Publications: * /imu/data [sensormsgs/Imu] * /imufilter/parameterdescriptions [dynamicreconfigure/ConfigDescription] * /imufilter/parameterupdates [dynamicreconfigure/Config] * /rosout [rosgraph_msgs/Log] * /tf [tf/tfMessage]

Subscriptions: * /imu/dataraw [sensormsgs/Imu]

Services: * /imufilter/getloggers * /imufilter/setloggerlevel * /imufilter/set_parameters

contacting node http://cpr-j100-0570:34629/ ... Pid: 1589 Connections: * topic: /rosout * to: /rosout * direction: outbound (44293 - 127.0.0.1:37358) [12] * transport: TCPROS * topic: /tf * to: /ekflocalization * direction: outbound (44293 - 127.0.0.1:37770) [11] * transport: TCPROS * topic: /imu/data * to: /ekflocalization * direction: outbound (44293 - 127.0.0.1:37892) [13] * transport: TCPROS * topic: /imu/dataraw * to: /jackalnode (http://cpr-j100-0570:35467/) * direction: inbound (59952 - cpr-j100-0570:53589) [15] * transport: TCPROS

rostopic info /imu/data_raw Type: sensor_msgs/Imu

Publishers: * /jackal_node (http://cpr-j100-0570:35467/)

Subscribers: * /jackalnode (http://cpr-j100-0570:35467/) * /imufilter (http://cpr-j100-0570:34629/)

rostopic info /imu/data Type: sensor_msgs/Imu

Publishers: * /imu_filter (http://cpr-j100-0570:34629/)

Subscribers: * /ekf_localization (http://cpr-j100-0570:35941/)

ROS Graph: Do not have enough points...

rosnode info /imu_filter
rostopic info /imu/data_raw
rostopic info /imu/data
rosrun rqt_graph rqt_graph

# Generated from /tmp/calibrate_compass.RoZx/imu_record.bag on 2020-06-21.
use_mag: true
mag_bias_x: 0.000000000
mag_bias_y: 0.000000000
mag_bias_z: 0.000000000