IMU + Wheels doesn't work

[sirdrain]

ROS Jazzy.
Not publish /fusion/odom

when init.stationary_window: 0.0 -- ok
if init.stationary_window > 0 -- doesn't

[manankharwar]

Hey @sirdrain... good catch, and thanks for the clear repro with the 0.0 vs > 0 comparison, that made it straightforward to bisect.

Root cause

Your IMU driver is publishing messages with stamp = {sec=0, nanosec=0}. The stationary window was measuring elapsed time using message timestamps:

init_window_start_ = t;               // t = 0.0
...
if (t - init_window_start_ >= duration)  // 0.0 - 0.0 = 0.0, never true

Since every message carried the same zero timestamp, the elapsed time never advanced and the filter hung in the collection phase indefinitely... hence no /fusion/odom.

Fix

Pushed in 79a4753. The window now uses this->now() (wall clock) for both the start timestamp and the completion check, making it immune to whatever the driver puts in header.stamp.

To get the fix

cd ~/ros2_ws/src/fusioncore
git pull
colcon build --packages-select fusioncore_ros

You can keep init.stationary_window: 2.0.... it'll work correctly now.

One thing to note

Your IMU is also publishing angular_velocity_covariance[0] = -1, which in ROS convention signals "covariance unknown." FusionCore falls back to config noise values in that case so it won't break anything, but worth flagging to your driver maintainer if it's fixable.

Thanks again for reporting.... closing this once you confirm the fix works on your end.