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Published 20 hours ago • verified publisher icon ros-drivers

Conform to ros conventions regarding frame id's and coordinate frames

Open RonaldEnsing opened this issue 6 years ago • 11 comments

This PR makes the advanced navigation driver conform to ROS conventions:

  • REP103 [1] (ENU coordinate system)
  • REP145 [2] (IMU frame conventions)

This work is partially created using the fork of @kylerlaird [3]

In addition, the DiagnosticStatus message is replaced by a DiagnosticArray message, to allow the use of a Diagnostic Analyzer.

[1] http://www.ros.org/reps/rep-0103.html [2] http://www.ros.org/reps/rep-0145.html [3] https://github.com/kylerlaird/advanced_navigation_driver [4] http://wiki.ros.org/diagnostics/Tutorials/Creating%20a%20Diagnostic%20Analyzer

RonaldEnsing avatar Jul 27 '18 12:07 RonaldEnsing

@an-scott: what would be needed to get this PR merged? I realise it could break setups of users that are using the current version of the driver, but adherence to REP-103 and REP-145 seems of critical importance for IMU / INS drivers to me.

#5 by @kylerlaird that this is based on has been around for a bit as well, so it would be really nice if we could get this all merged.

gavanderhoorn avatar Aug 27 '18 10:08 gavanderhoorn

This work is based on Pull Request (PR) #5, which has conflicts with master branch. Therefore, I had to resolve merge conflicts for this PR (#9). Please review to make sure that you agree with the merge, to make sure that nothing is lost that should be kept.

RonaldEnsing avatar Aug 27 '18 11:08 RonaldEnsing

As someone who uses this driver, I'm looking forward for this to be merged.

edoreshef avatar Sep 06 '18 03:09 edoreshef

btw, did you leave 'imu_msg.linear_acceleration' and 'imu_msg.angular_velocity' as REP145 on purpose?

edoreshef avatar Sep 06 '18 03:09 edoreshef

@edoreshef I think I don't understand your question. The goal is to make it conform to REP145 indeed. Is there something with imu_msg.linear_acceleration and imu_msg.angular_velocity that is not?

RonaldEnsing avatar Sep 06 '18 05:09 RonaldEnsing

@RonaldEnsing, you are right, I got confused there :)

edoreshef avatar Sep 06 '18 11:09 edoreshef

:bellhop_bell:

gavanderhoorn avatar Sep 19 '18 19:09 gavanderhoorn

An update, in the end I found that REP103 conversions to be more accurate in this branch https://github.com/lbl-anp/advanced_navigation_driver/commit/f594142841a1e1d8d889a6fa51a98908e956d6bb

edoreshef avatar Dec 01 '18 20:12 edoreshef

Hi @RonaldEnsing I am interested in using this driver with ROS and was directed to the fork of @kylerlaird. Upon seeing this PR I would like to get confirmation that this fork conforms to REP-103 and REP-145

GrantDare avatar Feb 06 '19 23:02 GrantDare

@GrantDare I created this PR to make the driver conform to REP-103 and REP-145, because there was no REP-103 and REP145 compatible driver as far as I know.

RonaldEnsing avatar Feb 07 '19 08:02 RonaldEnsing

Note: This repository is abandoned by Advanced Navigation Support [email protected]. When asking them about this, they pointed me to:

  • https://github.com/advanced-navigation/ros1-driver
  • https://github.com/advanced-navigation/ros2-driver

nznobody avatar Mar 16 '22 22:03 nznobody