Avia + Microstrain Parker IMU questions

[MattiasTancred]

Having some issue with an external IMU Microstrain Parker 3DMCV7-AHRS. Using AVIA, Ubuntu 20.04 lts.

livox/imu running 200 hz imu/data [3DMCV7-AHRS] running 1000 hz

I have recorded a test .bag

path: time_6.bag version: 2.0 duration: 22.6s start: Mar 17 2024 12:11:43.26 (1710673903.26) end: Mar 17 2024 12:12:05.85 (1710673925.85) size: 854.4 MB messages: 20101 compression: none [304/304 chunks] types: livox_ros_driver/CustomMsg [e4d6829bdfe657cb6c21a746c86b21a6] sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743] sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] topics: /camera/color/image_raw 285 msgs : sensor_msgs/Image
/imu/data 15155 msgs : sensor_msgs/Imu
/livox/imu 4441 msgs : sensor_msgs/Imu
/livox/lidar 220 msgs : livox_ros_driver/CustomMsg

config file common: lid_topic: "/livox/lidar" imu_topic: "/imu/data" # Updated IMU topic time_sync_en: false # ONLY turn on when external time synchronization is really not possible

extrinsic_est_en:  true    # true: enable the online estimation of IMU-LiDAR extrinsic,
extrinsic_T: [ 0.00, 0.0, 0.05 ]  # Corrected translation values
extrinsic_R: [ -1, 0, 0,
               0, -1, 0,
               0, 0, 1 ]  # Corrected rotation values

I do not really understand the function of the online estimation, if I am required to do something else than just set it to true.

The topics are syncronized.

Running the bag with livox/imu works fine. Running the bag with imu/data result in:

[ WARN] [1710674822.816306212]: No point, skip this scan!

[ WARN] [1710674822.913519957]: No point, skip this scan!

[ WARN] [1710674823.013094566]: No point, skip this scan!

[ WARN] [1710674823.111961037]: No point, skip this scan!

[ WARN] [1710674823.213315000]: No point, skip this scan!

[ WARN] [1710674823.316323448]: No point, skip this scan!

[ WARN] [1710674823.418372740]: No point, skip this scan!