Port PR #153 (add support for onboard orientation estimation) to ROS2 #168
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Still work in progress. I don't have a MOT109, so I can't test this PR. |
mintar
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I just tested the pr on ros2 humble woth a MOT0109. Thus, this PR can be merged from my side. |
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Thanks for testing! I've fixed up the code with your suggestion and merged the PR. |
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Hi Martin, Regards, |
mintar
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This is required because the function `PhidgetSpatial_setAlgorithmMagnetometerGain` is present in the Phidgets Spatial MOT0109 API (https://www.phidgets.com/?prodid=1204#Tab_API), but was removed in the MOT0110 API (https://www.phidgets.com/?prodid=1205#Tab_API). This caused an exception to be thrown on the MOT0110 (ros-drivers#168 (comment)). This commit allows not setting the parameter on the MOT0110 and onwards, thereby avoiding the function call and the exception.
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I've just pushed a PR (#169) that should fix your problem. Please test and report back. |
mintar
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This is required because the function `PhidgetSpatial_setAlgorithmMagnetometerGain` is present in the Phidgets Spatial MOT0109 API (https://www.phidgets.com/?prodid=1204#Tab_API), but was removed in the MOT0110 API (https://www.phidgets.com/?prodid=1205#Tab_API). This caused an exception to be thrown on the MOT0110 (ros-drivers#168 (comment)). This commit allows not setting the parameter on the MOT0110 and onwards, thereby avoiding the function call and the exception.
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Works now. |
mintar
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This is required because the function `PhidgetSpatial_setAlgorithmMagnetometerGain` is present in the Phidgets Spatial MOT0109 API (https://www.phidgets.com/?prodid=1204#Tab_API), but was removed in the MOT0110 API (https://www.phidgets.com/?prodid=1205#Tab_API). This caused an exception to be thrown on the MOT0110 (#168 (comment)). This commit allows not setting the parameter on the MOT0110 and onwards, thereby avoiding the function call and the exception.
mintar
added a commit
that referenced
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Nov 27, 2023
This is required because the function `PhidgetSpatial_setAlgorithmMagnetometerGain` is present in the Phidgets Spatial MOT0109 API (https://www.phidgets.com/?prodid=1204#Tab_API), but was removed in the MOT0110 API (https://www.phidgets.com/?prodid=1205#Tab_API). This caused an exception to be thrown on the MOT0110 (#168 (comment)). This commit allows not setting the parameter on the MOT0110 and onwards, thereby avoiding the function call and the exception.
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