cruxdevstuff / allan_ros2 Goto Github PK

Hi @CruxDevStuff !

Thanks for the great package.
I am using ROS humble, and I failed to compile this package. Have you tried to use it with ROS humble ?

Hello,

I am using the IMU of the Realsense d455 camera. I followed the setup as described in the package and conducted tests. However, I noticed that after the deviation.csv file is created, the data starts to contain NaN (Not a Number) values at some point, and later it becomes 0. Then, I proceed by cleaning up the invalid rows, and the parameters emerge, but there seems to be an anomaly. I am not sure if I am doing something wrong or if there is a problem with the IMU. Additionally, is there a specific format or duration for saving IMU data to the bag file? I moved the camera around for about 1 minute and recorded the data. The results are as follows:

Config File

deviation.csv

Suggesting that a simple requirements.txt is included for simplicity in the setup process.

On Ubuntu 22.04 with ROS2 Humble I had to run the following commands for the build to work:

pip install empy==3.3.4
pip install lark 

Need that specific empy version due to an error similar to the one found here.