Please check the time stamp of this new version ROS-MSCL

[nonlinear1]

I can run lio-sam with the 3DM-GX5-25 under the old version ROS-MSCL .But this newer version ROS-MSCL cann't work! I found the time stamp of the data of imu isn't correct! I think you have changed the time stamp format of your ROS-MSCL? if not, please check! Thank you very much!

[nathanmillermicrostrain]

I just pushed an update that should fix this for you. Please let me know if you are still having troubles.

[nathanmillermicrostrain]

Hi nonlinear, did this fix your problem?

[nonlinear1]

Thank you very much! I have tested your new version of ROS-MSCL. This fix my problem!

[ycl-web]

May I ask which version of ros_mscl is it? I also encountered the same problem. thank you very much @nonlinear1 @nathanmillerparker

[robbiefish]

@ycl-web May I ask what version of the driver you are using? The current ros and ros2 branches have undergone a change that may have changed how the data is timestamped.

Also please note that the way the data is timestamped is dependent on configuration. The default behavior of the launch file is to timestamp the data when it is collected. If the data is transmitted over USB at a high rate, this can result in data being batched up and the timestamps will reflect this.

If you configure the driver with use_device_timestamp: True, the data will be timestamped with the device timestamp.

If you configure the driver with use_ros_time: True the data will be timestamped with ROS time right before it is published, which would display similar behavior to the default, but could behave differently if running in simulation

[ycl-web]

First of all thank you very much for answering my question. I am using ros. When using the previous version, the function package is still called ros_mscl, and the data collected at that time can run lio-sam. But I downloaded the latest version of the driver, but only modified the baud rate and imu_data_rate, which made lio-sam unable to run. Is the current driver default setting the same as before? Thanks again for your answer

[ycl-web]

@robbiefish

[robbiefish]

@ycl-web several things have changed since the package was called ros_mscl, can you please send me the output that the driver prints when you run it? That would help me to determine what version you are using.

How are you installing the driver? Are you installing it from the buildfarm using apt-get or are you building it from source?

[ycl-web]

thanks for your help. First I built it from source, the driver output is in the image below. The part I modified in the source code is to put in the "param.yml" file: port : "/dev/ttyUSB0" baudrate: 460800 set_baud : True imu_data_rate : 500 Other settings are default settings. I have a few problems:

1. I convert the quaternion of the imu/data message to roll, pitch, yaw. When I turn the imu, the yaw value will continuously increase or decrease to a value after the imu is turned to a fixed position, while the roll and pitch are displayed in real time. 2.device_setup: True use_device_timestamp : False use_ros_time : False These three settings are the default settings, do they need to be modified?
2. When I run lio-sam with this version of the driver, the image built in rviz will float around, but it will not float around with the previous ros_mscl. My operating system is ubuntu18.04 The ros version is melodic The imu version is 3dm-gx5-25 Thanks again for your help. @robbiefish

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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