Orientation estimate in sensor_msgs/Imu

[horverno]

In the /gps/duro/imu message the orientation is zero right now, although it is provided by the sensor in the message /gps/duro/rollpitchyaw. It needs to be converted to geometry_msgs/Quaternion and fill out in a proper way.

http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/Imu.html

[enricobellocchio]

Dear @horverno, do you have any updates on this aspect? do you have any suggestions for implementing this enhancement?

[horverno]

Dear @enricobellocchio i am planning to implement this, it is quite easy to do, but right now i am a bit busy
basically what has to be done is to fill the imu_ros_msg.orientation in duro.cpp with the proper quaternions form the sensor

[horverno]

@enricobellocchio i fixed it, but please note orientation is a slower, estimated value compared to the other IMU messages which are not calculated only published as raw data in the correct unit

[enricobellocchio]

Thank you very much!