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Increasing ELLIPSE2-N ekf_euler output frequency to 1khz #26
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Hey, Sorry for late reply. |
Hi Erwan, I am using the version that is installed using "apt-get install ros-kinetic(melodic)-sbg-driver" (https://wiki.ros.org/sbg_driver). Basically, I need the angular velocities that I get by subscribing to imu_data topic using ROS, and attitude that I get by subscribing to ekf_euler topic. I am receiving only 92 fps, even after increasing the serial port speed. Also, the frames have delay (about milliseconds), I am not sure how much, but it reduces the performance of the whole system. While making this repository, I receive the following error: I might be able to solve the issue by changing the codes, but does this have an actual cause? Thanks, |
And for the error, someone told me about it as well, for some reasons, my cmake version didn't catch the typo error, it is corrected now ! |
Update: Q: can I get the data in higher frequencies? 1khz? Some samples taken from a Generic IMU and SBG ekf_euler:
About the version, it seems to me 1.1.7?
About the frequency: That being said, I am testing our system using other IMUs also, by looking at the results, I can see SBG is more accurate, but data arrive slower and with a delay (I said that by looking at the behaviour of the system and my experience with other IMUs). This is my configuration file:
Yes, I also changed it to capital V! Thanks, |
Huges changes have been made on the current repository version (2.0.0) regarding the message handling, so I recommend you to use this version (which should be available via apt-get soon).
If you didn't reconfigure your device, even if the settings file is set to 25Hz, your Ellipse is currently sending data at 200Hz as your last configuration. |
Okay, great! Can I get data higher than 200 frames per second? |
It is not possible to configure sbg output at more than 200Hz. |
Hi,
I am using your ROS package to receive data from ELLIPSE2-N.
Currently I am able to receive ekf_euler at about 103hz after changing the config file. I actually don't need the GPS or BARO fusion, just need the Euler angles.
Thanks in advance.
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