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Bug #438

closed

Gyro stream data

Added by Barbara Bazzana about 2 months ago. Updated about 2 months ago.

Status:
Closed
Priority:
Normal
Assignee:
-

Description

Hello,

I have noticed that in the messages of the gyro stream enabled by

::realsense::stream_motion {type ::realsense::STREAM_GYRO index -1}
::realsense::publish {slot gyro bank gyro index 0}

only the avel is filled in, while I was expecting to read both att and avel.
Could you please help me with this?

Thank you,
Barbara

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 #1

Updated by Anthony Mallet about 2 months ago

Weel, the gyro is only an angular velocity sensor, it does not provide any
attitude data.

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 #2

Updated by Anthony Mallet about 2 months ago

::realsense::stream_motion {type ::realsense::STREAM_GYRO index -1}
::realsense::publish {slot gyro bank gyro index 0}

Also, regarding this code, the 'publish' service is only for the image
processing pipeline.

For the IMU, stream_motion is enough to stream to the gyro port, there
is no such thing as the image pipeline. You can safely drop the
'publish' call :)

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 #3

Updated by Barbara Bazzana about 2 months ago

Ok, indeed the orientation is not even used by the estimate.
OK, dropped the publish call.

Thank you, I am closing the issue.

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 #4

Updated by Barbara Bazzana about 2 months ago

  • Status changed from New to Closed
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