Fix SI units as per ROS convention (fixes #165)#171
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MCFurry wants to merge 1 commit intoRoboSense-LiDAR:mainfrom
Open
Fix SI units as per ROS convention (fixes #165)#171MCFurry wants to merge 1 commit intoRoboSense-LiDAR:mainfrom
MCFurry wants to merge 1 commit intoRoboSense-LiDAR:mainfrom
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Hello, Is there any update on this PR status? It is truly a very important improvement and would be nice to have it merged. |
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Might be bit more problematic, the E1 seems to send data in m/s2 where Airy sends in G:s so these would need per model specification or FW update to stay consistent. |
Contributor
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But that's problematic in general. If you switch hardware you suddenly get different magnitudes over the same ROS topic... So I propose we come up with a solution for that instead of ignoring the problem. How about a parameter which sets the model? Or a parameter which sets the conversion factor? |
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As per ROS convention: https://www.ros.org/reps/rep-0145.html#data-reporting
IMU sensor should report linear acceleration in SI units (m/s^2) and not in G.
Issue also mentioned in #165