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Fix the imu_info frame_id bug and initialize the quaternion's w value to 1.0

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datean
2024-12-24 15:44:01 +08:00
parent 9888fd3231
commit 7faab8f0bc
1 changed files with 18 additions and 9 deletions
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orbbec_camera/src/ob_camera_node.cpp
+18 -9
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@@ -2304,26 +2304,34 @@ void OBCameraNode::onNewIMUFrameSyncOutputCallback(const std::shared_ptr<ob::Fra
auto imu_msg = sensor_msgs::msg::Imu();
setDefaultIMUMessage(imu_msg);
imu_msg.header.frame_id = imu_optical_frame_id_;
imu_msg.header.frame_id = optical_frame_id_[GYRO];
auto frame_timestamp = getFrameTimestampUs(accelframe);
auto timestamp = fromUsToROSTime(frame_timestamp);
imu_msg.header.stamp = timestamp;
auto gyro_frame = gryoframe->as<ob::GyroFrame>();
auto gyro_info = createIMUInfo(GYRO);
gyro_info.header = imu_msg.header;
gyro_info.header.frame_id = imu_optical_frame_id_;
imu_info_publishers_[GYRO]->publish(gyro_info);
auto accel_info = createIMUInfo(ACCEL);
imu_msg.header.frame_id = optical_frame_id_[ACCEL];
accel_info.header = imu_msg.header;
imu_info_publishers_[ACCEL]->publish(accel_info);
imu_msg.header.frame_id = imu_optical_frame_id_;
auto gyro_frame = gryoframe->as<ob::GyroFrame>();
auto gyroData = gyro_frame->getValue();
imu_msg.angular_velocity.x = gyroData.x - gyro_info.bias[0];
imu_msg.angular_velocity.y = gyroData.y - gyro_info.bias[1];
imu_msg.angular_velocity.z = gyroData.z - gyro_info.bias[2];
auto accel_frame = accelframe->as<ob::AccelFrame>();
auto accelData = accel_frame->getValue();
auto accel_info = createIMUInfo(ACCEL);
imu_msg.linear_acceleration.x = accelData.x - accel_info.bias[0];
imu_msg.linear_acceleration.y = accelData.y - accel_info.bias[1];
imu_msg.linear_acceleration.z = accelData.z - accel_info.bias[2];
imu_info_publishers_[ACCEL]->publish(accel_info);
imu_gyro_accel_publisher_->publish(imu_msg);
}
@@ -2345,14 +2353,15 @@ void OBCameraNode::onNewIMUFrameCallback(const std::shared_ptr<ob::Frame> &frame
}
auto imu_msg = sensor_msgs::msg::Imu();
setDefaultIMUMessage(imu_msg);
imu_msg.header.frame_id = optical_frame_id_[stream_index];
auto timestamp = fromUsToROSTime(frame->getTimeStampUs());
imu_msg.header.stamp = timestamp;
auto imu_info = createIMUInfo(stream_index);
imu_info.header = imu_msg.header;
imu_info.header.frame_id = imu_optical_frame_id_;
imu_info_publishers_[stream_index]->publish(imu_info);
if (frame->getType() == OB_FRAME_GYRO) {
auto gyro_frame = frame->as<ob::GyroFrame>();
auto data = gyro_frame->getValue();
@@ -2377,7 +2386,7 @@ void OBCameraNode::setDefaultIMUMessage(sensor_msgs::msg::Imu &imu_msg) {
imu_msg.orientation.x = 0.0;
imu_msg.orientation.y = 0.0;
imu_msg.orientation.z = 0.0;
imu_msg.orientation.w = 0.0;
imu_msg.orientation.w = 1.0;
imu_msg.orientation_covariance = {-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
imu_msg.linear_acceleration_covariance = {
@@ -2761,7 +2770,7 @@ orbbec_camera_msgs::msg::IMUInfo OBCameraNode::createIMUInfo(
orbbec_camera_msgs::msg::IMUInfo imu_info;
imu_info.header.frame_id = optical_frame_id_[stream_index];
imu_info.header.stamp = node_->now();
auto imu_profile = stream_profile_[stream_index];
if (stream_index == GYRO) {
auto gyro_profile = stream_profile_[stream_index]->as<ob::GyroStreamProfile>();
auto gyro_intrinsics = gyro_profile->getIntrinsic();