The magnetometer data is high and varying in the z dimension

[mllofriu]

Please provide the following information:

• OS: Ubuntu 20.04 in Tegra
• ROS Distro: Foxy
• Built from source or installed: Installed, built jackal packages from source
• Package version: ee4e3f6

Expected behaviour
The messages in /imu/mag have low and non-varying z component of the magnetic field (not zero because the field is not parallel to the earth's surface)

Actual behaviour
The data has a high and varying z component

To Reproduce
Provide the steps to reproduce:

1. run jackal bringup
2. ros2 topic echo /imu/mag --csv
3. plot in R

require('reshape2')

read_csv_and_groom <-function(path, cols_to_select, source) 
{
  data <- read.csv(path, header = FALSE)
  data <- data[,cols_to_select]
  colnames(data) <- c('ts', 'ns','x', 'y', 'z')
  data$ns <- as.integer(data$ns)
  data$ts <- as.integer(data$ts)
  # transform secs rel to start
  data$ts <- data$ts - data$ts[1]
  # keep only milliseconds
  data$ms <- data$ns / 1e6
  print(data$ns)
  print(data$ms)
  data$ms <- data$ts * 1e3 + data$ms

  data <- melt(data, na.rm = TRUE, id.vars = 'ms', measure.vars = c('x', 'y', 'z'))
  data$source <- source
  
  data
}

imu <- read_csv_and_groom('~/Downloads/imu.csv', c(1,2,29,30,31), 'imu')
mag <- read_csv_and_groom('~/Downloads/mag.csv', c(1,2,4,5,6), 'mag')

all <- rbind(imu, mag)

require('ggplot2')
ggplot(all[all$source == 'imu',], aes(x = ms)) +
  geom_point(aes(y = value, color=interaction(source, variable))) 

[tonybaltovski]

Thanks for reporting this! We are going to looking into it and get back to you as soon as possible.

[mllofriu]

Thank you!