Discrepancy between setting first value of covariance to -1 and disabling orientation parameters in IMU configuration #860
Description
I have observed a discrepancy between two approaches in configuring robot_localization. When setting the first value of the covariance of a sensor_msgs/Imu message to -1 (which should neglect the orientation measurement), and alternatively, when disabling the orientation parameters in the configuration file.
From my understanding, shouldn't these two approaches be equal?
my launch file (with covariance having the -1):
imu0: "/imu_corrected"
imu0_config:
[
false, #x
false, #y
false, #z
true, #roll
true, #pitch
true, #yaw
false, #velocity x
false, #velocity y
false, #velocity z
false, #velocity roll
false, #velocity pitch
false, #velocity yaw
true, #acceleration x
false, #acceleration y
true #acceleration z
]
imu0_differential: false
imu0_relative: false
imu0_remove_gravitational_acceleration: true
odom0: "/odometry/icp/back"
#The order of the values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az.
odom0_config:
[
false,
false,
false,
false,
false,
false,
true,
true,
true,
true,
true,
true,
false,
false,
false
]
odom0_differential: true
odom0_relative: false
my launch file (with non -1 covariances):
imu0: "/imu_raw"
imu0_config:
[
false, #x
false, #y
false, #z
false, #roll
false, #pitch
false, #yaw
false, #velocity x
false, #velocity y
false, #velocity z
false, #velocity roll
false, #velocity pitch
false, #velocity yaw
true, #acceleration x
false, #acceleration y
true #acceleration z
]
imu0_differential: false
imu0_relative: false
imu0_remove_gravitational_acceleration: true
[...]
I am running ROS noetic.