Problem getting IMU data published to topics

[Karl-Buckley]

Hi there,

I'm trying to get some basic orientation data out of the ROS node. Currently it compiles and doesn't run into any runtime errors. The only parameter I have changed is the enable for the GPS, as I only have the IMU.

The issue I'm having is that, once it finishes enabling the data streams, only the DID_INS_1 topic is visible. Additionally, once the streams are enabled, the timer callback that in turn calls the publishers to output IMU data is turned off.

This results in the node not doing anything, with not even a bare minimum of topics being advertised, let alone having data published to them.

I use 'rosrun inertial_sense_ros inertial_sense_node', and have manually changed the default values on lines 144 and 148 (development branch) to false for the GPS1 and 2. I had tried master, but encountered similar issues. The IMU successfully connects, and I've printed out some of the data streams during setup to confirm that data is being transferred.

Is there something I've been missing to have even only the orientation data being published?

Log:

rosrun inertial_sense_ros inertial_sense_node
[ INFO] [1666711046.113938084]: Load Param Server
Loading Params[ INFO] [1666711046.137465718]: Using parameter server.
[ INFO] [1666711046.137521344]: Connecting to serial port "/dev/ttyACM0", at 921600 baud
[ INFO] [1666711046.155742928]: Connected to uINS 42608 on "/dev/ttyACM0", at 921600 baud
[ INFO] [1666711046.162450084]: Attempting to enable strobe in data stream.
[ INFO] [1666711046.162555210]: Attempting to enable flash config data stream.
[ INFO] [1666711046.162604999]: Attempting to enable INS1 data stream.
[ INFO] [1666711046.164274546]: DID_INS_1 response received
[ INFO] [1666711046.165209800]: DID_FLASH_CONFIG response received
[ INFO] [1666711046.165251756]: refLla was set
[ INFO] [1666711047.174137220]: Inertial Sense ROS data streams successfully enabled.