update fixposition SDK, update FP_A-{RAW,CORR}IMU output #85

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flipflip8952 merged 4 commits into main from feature/bump-sdk

Jun 23, 2025

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flipflip8952 commented May 6, 2025 •

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Bump Fixposition SDK
Add support FP_A-{RAW,CORR}IMU version 2
- Wrap sensor_msgs/Imu into a custom message, which includes the new flags along the standard IMU data
- That is, /fpa/{raw,corr}imu topics now contain two new fields "bias_comp" and "imu_status" and the imu data itself (type sensor_msgs/Imu) is in the field "data"
  - For backwards compatibility, users can subscribe to /fpa/{raw,corr}imu/data and ignore the new fields
  - However, since v2.102.119 of the VRTK2 software, the FP_A-CORRIMU is now always output and users must consider and handle the new fields
- See fixposition_driver_msgs/msg/FpaImu.msg for details

flipflip8952 added 2 commits

May 6, 2025 10:06


          update fixposition SDK

64782a6


          update imu

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flipflip8952 changed the title ~~update fixposition SDK~~ update fixposition SDK, update FP_A-{RAW,CORR}IMU output

flipflip8952 added 2 commits

June 23, 2025 10:12


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flipflip8952 requested a review from jwahlen64

June 23, 2025 08:23

jwahlen64 approved these changes

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flipflip8952 merged commit a4684ed into main

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flipflip8952 deleted the feature/bump-sdk branch

June 23, 2025 08:32

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