CHANGELOG
Changelog for package imu_filter_madgwick
2.1.5 (2024-10-01)
2.1.4 (2024-04-26)
2.1.3 (2022-12-07)
Update CMakeLists to use targets
Remove node_ prefix. (#163)
Contributors: Martin Günther, Max Polzin
2.1.2 (2022-07-14)
Enable on Windows (#162)
Contributors: Lou Amadio
2.1.1 (2022-05-24)
2.1.0 (2022-05-02)
Switch to non-deprecated hpp header The .h header became deprecated after galactic.
Add missing test dependency
Contributors: Martin Günther
2.0.0 (2022-04-12)
Initial release into ROS2 foxy, galactic and rolling
Fix gcc warnings + clang-tidy suggestions
Fix CMakeLists
Reformat python code using black
Manually reformat licenses + defines
Reformat everything using clang-format
Add license files The “COPYING” file incorrectly had the text of the LGPL, but the original Madgwick filter [1], [2] is GPL licensed. The source code headers correctly have the GPLv3 license text. [1]: https://x-io.co.uk/open-source-imu-and-ahrs-algorithms/ [2]: https://github.com/xioTechnologies/Fusion
Change to allow the usage of imu_filter_madgwick as a library (#129)
imu_filter_madgwick: Install headers
Madgwick for eloquent (#110)
Update maintainers in package.xml
Fix warnings: reordering and unused vars
Contributors: Martin Günther, boiscljo, tgreier
1.2.2 (2020-05-25)
1.2.1 (2019-05-06)
Skip messages and warn if computeOrientation fails
Contributors: Martin Günther
1.2.0 (2018-05-25)
1.1.5 (2017-05-24)
Initial release into Lunar
Remove support for Vector3 mag messages
Change default world_frame = enu
Rewrite rosbags: Use MagneticField for magnetometer
Contributors: Martin Günther
1.1.4 (2017-05-22)
Print warning if waiting for topic Closes #61.
Fix boost::lock_error on shutdown
Contributors: Martin Günther
1.1.3 (2017-03-10)
Return precisely normalized quaternions Fixes #67 : TF_DENORMALIZED_QUATERNION warning added in TF2 0.5.14.
Tests: Check that output quaternions are normalized
Fixed lock so it stays in scope until end of method.
Contributors: Jason Mercer, Martin Guenther, Martin Günther
1.1.2 (2016-09-07)
Add missing dependency on tf2_geometry_msgs
Contributors: Martin Guenther
1.1.1 (2016-09-07)
Add parameter “world_frame”: optionally use ENU or NED instead of NWU convention (from #60; closes #36)
Add parameter “stateless” for debugging purposes: don’t do any stateful filtering, but instead publish the orientation directly computed from the latest accelerometer (+ optionally magnetometer) readings alone
Replace the (buggy) Euler-angle-based initialization routine (ImuFilterRos::computeRPY) by a correct transformation matrix based one (StatelessOrientation::computeOrientation) and make it available as a library function
Refactor madgwickAHRSupdate() (pull out some functions, remove micro optimizations to improve readability)
Add unit tests
Contributors: Martin Guenther, Michael Stoll
1.1.0 (2016-04-25)
1.0.11 (2016-04-22)
Jade: Change default: use_magnetic_field_msg = true
Contributors: Martin Guenther
1.0.10 (2016-04-22)
1.0.9 (2015-10-16)
1.0.8 (2015-10-07)
1.0.7 (2015-10-07)
1.0.6 (2015-10-06)
Split ImuFilter class into ImuFilter and ImuFilterRos in order to have a C++ API to the Madgwick algorithm
Properly install header files.
Contributors: Martin Günther, Michael Stoll
1.0.5 (2015-06-24)
Add “~use_magnetic_field_msg” param. This allows the user to subscribe to the /imu/mag topic as a sensor_msgs/MagneticField rather than a geometry_msgs/Vector3Stamped. The default for now is false, which preserves the legacy behaviour via a separate subscriber which converts Vector3Stamped to MagneticField and republishes.
Contributors: Mike Purvis, Martin Günther
1.0.4 (2015-05-06)
update dynamic reconfigure param descriptions
only advertise debug topics if they are used
allow remapping of the whole imu namespace with this change, all topics can be remapped at once, like this: rosrun imu_filter_madgwick imu_filter_node imu:=my_imu
Contributors: Martin Günther
1.0.3 (2015-01-29)
Add std dev parameter to orientation estimate covariance matrix
Port imu_filter_madgwick to tf2
Switch to smart pointer
Contributors: Paul Bovbel, Martin Günther
1.0.2 (2015-01-27)
fix tf publishing (switch parent + child frames) The orientation is between a fixed inertial frame (
fixed_frame_) and the frame that the IMU is mounted in (imu_frame_). Also,imu_msg.header.frameshould beimu_frame_, but the corresponding TF goes fromfixed_frame_toimu_frame_. This commit fixes that; for thereverse_tfcase, it was already correct. Also see http://answers.ros.org/question/50870/what-frame-is-sensor_msgsimuorientation-relative-to/. Note that tf publishing should be enabled for debug purposes only, since we can only provide the orientation, not the translation.Add ~reverse_tf parameter for the robots which does not have IMU on root-link
Log mag bias on startup to assist with debugging.
add boost depends to CMakeLists All non-catkin things that we expose in our headers should be added to the DEPENDS, so that packages which depend on our package will also automatically link against it.
Contributors: Martin Günther, Mike Purvis, Ryohei Ueda
1.0.1 (2014-12-10)
add me as maintainer to package.xml
turn mag_bias into a dynamic reconfigure param Also rename mag_bias/x –> mag_bias_x etc., since dynamic reconfigure doesn’t allow slashes.
gain and zeta already set via dynamic_reconfigure Reading the params explicitly is not necessary. Instead, dynamic_reconfigure will read them and set them as soon as we call config_server->setCallback().
reconfigure server: use proper namespace Before, the reconfigure server used the private namespace of the nodelet manager instead of the nodelet, so the params on the parameter server and the ones from dynamic_reconfigure were out of sync.
check for NaNs in magnetometer message Some magnetometer drivers (e.g. phidgets_drivers) output NaNs, which is a valid way of saying that this measurement is invalid. During initialization, we simply wait for the first valid message, assuming there will be one soon.
magnetometer msg check: isnan() -> !isfinite() This catches both inf and NaN. Not sure whether sending inf in a Vector3 message is valid (Nan is), but this doesn’t hurt and is just good defensive programming.
Initialize yaw from calibrated magnetometer data * Add magnetometer biases (mag_bias/x and mag_bias/y) for hard-iron compensation. * Initialize yaw orientation from magnetometer reading. * Add imu/rpy/raw and imu/rpy/filtered as debug topics. imu/rpy/raw can be used for computing magnetometer biases. imu/rpy/filtered topic is for user readability only.
Contributors: Martin Günther, Shokoofeh Pourmehr
1.0.0 (2014-09-03)
First public release
Remove setting imu message frame to fixed/odom
CMakeLists: remove unnecessary link_directories, LIBRARY_OUTPUT_PATH
add missing build dependency on generated config This removes a racing condition from the build process.
install nodelet xml file Otherwise the nodelet can’t be found
fix implementation of invSqrt() The old invSqrt() implementation causes the estimate to diverge under constant input. The problem was the line long i = (long)&y;, where 64 bits are read from a 32 bit number. Thanks to @tomas-c for spotting this and pointing out the solution.
catkinization of imu_tools metapackage
fix typo: zeta ->
zeta_fix initialization of initial rotation
gyro drift correction function added in MARG implementation
set “zeta” as a parameter for dynamic reconfigure in the .cfg file
add new test bag: phidgets_imu_upside_down
add parameter publish_tf When the imu is used together with other packages, such as robot_pose_ekf, publishing the transform often interferes with those packages. This parameter allows to disable tf publishing.
add some sample imu data
more informative constant_dt message. Reverts to 0.0 on illegal param value
imu_filter_madgwick manifest now correctly lists the package as GPL license.
orientation is initialized from acceleration vector on first message received
added dynamic reconfigure for gain parameter. Added better messages about constant_dt param at startup
the tf published is now timestamped as the imu msg, and not as now(). Also added constant dt option for the imu+mag callback
fix the transform publish – from the fixed frame to the frame of the imu
add a tf broadcaster with the orientation
as per PaulKemppi: added option to set constant dt
walchko: Needed to add namespace: std::isnan() and needed to add rosbuild_link_boost(imu_filter signals) to CMakeLists.txt
added sebastian’s name and link to the manifest
renamed imu_filter to imu_filter_madgwick
Contributors: Ivan Dryanovski, Martin Günther, Mike Purvis, Sameer Parekh, TUG-DESTOP, Francisco Vina, Michael Görner, Paul Kemppi, Tomas Cerskus, Kevin Walchko