Microstrain 3DM-GQ7 doesn't output orientation and velocity in ENU in ROS2

[hhakung]

Describe the bug In ROS2, Microstrain 3DM-GQ7 doesn't output orientation and velocity in ENU even when "use_enu_frame" is set to "True". They always get printed in NED.

To Reproduce Steps to reproduce the behavior:

1. Launch Node with command ros2 launch microstrain_inertial_driver microstrain_launch.py
2. Set lifecycle using ros2 lifecycle set /microstrain_inertial_driver configure and ros2 lifecycle set /microstrain_inertial_driver activate
3. Check the values in /nav/odom by running ros2 topic echo /nav/odom
4. The orientation in the topic is in NED.

Expected behavior The orientation in the topic "/nav/odom" should be in ENU.

Environment (please complete the following information):

• OS: Ubuntu
• Architecture: x86_64
• ROS Version: foxy
• Version: [e.g. 2.0.0]
• Sensor(s): 3DM-GQ7

Modifications Modified params.yml: Set "use_enu_frame" to "True"

Launch Parameters If you have an updated params.yml file, please attach it to this issue.

Additional context Add any other context about the problem here.

[robbiefish]

Apologies for the delay in response.

If you still need this fixed, this should have been fixed in 4.0.0 which changed the way we do most of our NED to ENU conversions

[github-actions[bot]]

This issue is stale because it has been open for 2 weeks with no activity. If the issue is still not resolved, please leave a comment describing what is still not working

[github-actions[bot]]

This issue was closed because it has been inactive for 2 weeks since being marked as stale. If the issue is still not resolved, please reopen the issue, and leave a comment describing what is still not working