chennuo0125-hit / imu_gps_fusion Goto Github PK

请问这一步的作用是？
之后又recover了state，这一步的作用没有明白。

您好，请问数据包能分享一下在国内的链接吗？十分感谢
https://drive.utbm.fr/s/B9eq899fQ4NdWYn失效了

ros包里，包含nmea_navsat数据格式gps信号，我下载了nmea_navsat_driver包和您的工程放在一起编译可以通过，运行后，nmea_navsat_driver包会报错，关于USB接口问题，您的工程也接收不到ros包中播放的fix信号，请问该如何解决？

In file imu_gps_fusion/src/imu_gps_fusion_node.cpp line 47~49:

In function interpolateImuData(...), when using velocities of two consecutive IMU frames to interpolate, quote:

inter_data.angular_velocity.x = scale * (second_data->angular_velocity.x - first_data->angular_velocity.x) + first_data->angular_velocity.x;
inter_data.angular_velocity.y = scale * (second_data->angular_velocity.x - first_data->angular_velocity.x) + first_data->angular_velocity.x;
inter_data.angular_velocity.z = scale * (second_data->angular_velocity.x - first_data->angular_velocity.x) + first_data->angular_velocity.x;

Shouldn't it be:

inter_data.angular_velocity.x = scale * (second_data->angular_velocity.x - first_data->angular_velocity.x) + first_data->angular_velocity.x;
inter_data.angular_velocity.y = scale * (second_data->angular_velocity.y - first_data->angular_velocity.y) + first_data->angular_velocity.y;
inter_data.angular_velocity.z = scale * (second_data->angular_velocity.z - first_data->angular_velocity.z) + first_data->angular_velocity.z;

Excellent work BTW