Orientation error, add covariance as parameters, parameter for frame_id #2
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Tried to run this version. Wasn't able to get it running at all even making a couple changes. |
Was this written for bno085? I am using bno080, took out all calibration related code from talker.py and it ran correctly. Data looks better as well. |
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Hello,
I noticed that orientation space was wrong. I had to fix this by change the value assignemnt on quaternions.Also I added covariances as parameters. I'm not sure what is the correct covariance matrix for this device, but it can now be set via parameters. So we can test different values to see without compiling it again.
Last thing I did was adding a parameter for frame_id
BR Patrick