mylxiaoyi / odor_search Goto Github PK

Line 2:
  <description brief=""mox_sensor_speed"robchair_bringup">
Should be:
  <description brief="robchair_bringup">

Hello,

It think there's a bug in the lse_xsens_mti driver, regarding the orientation 
quaternion.

In brief, you're not following the specification:
q0  q1  q2  q3
q.w q.x q.y q.z

Instead, in 'src/MTi/MTi.h' you're doing a wrong assingment:
q0  q1  q2  q3
q.x q.y q.z q.w

I've attached a corrected version. Use 'diff' to see the differences (only 4 
lines).

BTW, I'd like to know:
- Why aren't you using the CMT driver that comes with the Xsens MTi device? I 
guess it's not allowed by the license/copyright. Am I right? I ask because in 
your driver there are many functionalities missed. Furthermore, it is not easy 
to parametrized, e.g. you have to modify the source code to change the sampling 
frequency.
- Your driver uses polling to retrive the IMU data synchronously. Why don't you 
do it asyncrhonously? Is it because of the ROS design/architecture?

Thanks for your attention.

Regards,
Enrique

A have two MTi-G devices (one newer) with different device id and there is a 
test on MTi.cpp line 153 that disables the GPS:

return (mDeviceID & 0xFFF00000) == 0x00500000;

I don't now if is the right thing to do, but I changed the mask to 0x00F00000 
to solve my problem since my device id is 0x01500690 (I also have an old device 
with id 0x00501501)

Your lib miss boost. The following lines in CMakeLists.txt seems to fix this:

rosbuild_add_boost_directories()

rosbuild_add_library(cereal_port src/CerealPort.cpp)

rosbuild_link_boost(cereal_port thread)