Added by Barbara Bazzana 22 days ago. Updated 22 days ago.
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
Weel, the gyro is only an angular velocity sensor, it does not provide any
attitude data.
::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 :)
Ok, indeed the orientation is not even used by the estimate.
OK, dropped the publish call.
Thank you, I am closing the issue.