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Magnetometer data is missing the covariance #70
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@mllofriu The magnetometer didn't have covariance data from ROS 1 when it was only a Vector3 message. Do you have a specific use case for the data? We can look for the covariance for the sensor and add it to the next release of the firmware. |
Some lidar SLAM systems require a 9-degree imu, which could be composed of the 6-degree imu and the magnetometer. To be honest, I'm not sure how sensitive to the covariance any of these solutions (if at all) are:
All in all, I think this one is lower priority, unless you believe it affects the result of the /imu/data estimate (madgwick). |
Please provide the following information:
Expected behaviour
The messages in /imu/mag have non-zero covariaces.
Actual behaviour
The data has the Zero matrix as covariance.
To Reproduce
Provide the steps to reproduce:
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