Pure orientation on tf tree

[ebnerluca]

Hello,

I would like to read the orientation of my 3DM-CV7-AHRS from a tf topic or a pose publisher.
I followed the wiki and tried the following config for my ros node:

tf_mode: 2

[...]

filter_relative_position_config : True
filter_relative_position_frame  : 2
filter_relative_position_source : 2
filter_relative_position_ref    : [0.0, 0.0, 0.01]

According to the wiki (https://wiki.ros.org/microstrain_inertial_driver/transforms, section 2.3), this should now publish a static tf from earth_frame_id -> map_frame_id (this is working), and a dynamic tf from map_frame_id -> target_frame_id (this is not working).
Am I missing something? Do i need to somehow fake odometry in order to have a 'valid' full pose for the tf tree? I do not care about the position, only the orientation.

Thanks in advance.

[robbiefish]

Hello @ebnerluca, The 3DM-CV7-AHRS, and 3DM-CV7-AR devices do not support publishing any position information as they do not have a source for global position.

If you want to output a global position solution from our driver, you would need a device which supports outputting global position such as the 3DM-GQ7 or a 3DM-CV7-INS with an external receiver connected to provide global position

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This issue is stale because it has been open for 2 weeks with no activity. If the issue is still not resolved, please leave a comment describing what is still not working

[github-actions]

This issue was closed because it has been inactive for 2 weeks since being marked as stale. If the issue is still not resolved, please reopen the issue, and leave a comment describing what is still not working