How to connect the IMU to a ROS system for consistent stream data logging?

[tsurudyne]

Hi @TixiaoShan , thank you for your excellent work and beautiful source code.

When I tried mapping with your dataset(casual_walk.bag, park.bag, etc..), I was able to generate clear and detailed maps.
However, when I tried to verify the mapping using own data, I had a problem.
The lidar I used is VLP16 and the IMU is 3DM-GX5-25.
The mapping seems to be successful, but it looks like the point cloud of the object is noisier than when using your dataset.

I'm guessing this is a problem with the IMU data.
According to the 3DM-GX5-25 manual(p.28), data streaming is inconsistent when using USB.
However, I connect the IMU and PC via USB and use ros_mscl to set imu_data_rate to 500Hz for logging.
Therefore, when I checked my rosbag with rqt_bag, the data was inconsistent and multiple data were gathered at about the same moment.

I think you've solved this problem, please tell me how you connected the IMU to the ROS system.

[stale]

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[TixiaoShan]

Hi @tsurudyne
I used USB to connect the IMU. Actually, I may have the same problem, but I never checked. Here is my IMU driver. If you are interested, you can try it out.
microstrain_mips.zip

[tsurudyne]

Hi @tsurudyne
I used USB to connect the IMU. Actually, I may have the same problem, but I never checked. Here is my IMU driver. If you are interested, you can try it out.
microstrain_mips.zip

Thank you for your reply!
I used the driver you provided and it worked well !
My imu data is now similar to your data.

There seems to be a problem with latest ROS-MSCL package(or MSCL driver).
https://github.com/LORD-MicroStrain/MSCL/issues/53
ros-drivers/microstrain_mips#32

Anyway, I'll try to experiment with mapping tomorrow.

I am looking forward to your research presentation at IROS.
Thank you.