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personalrobotics / ada_ros2

ROS2 Hardware Interface and Description for the ADA Robot

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IMU Disconnection Behavior

amalnanavati opened this issue · comments

commented

Currently, when the IMU is disconnected, the code immediately start assuming that the IMU angle is zero. However, this is not good (e.g., if there is a momentary issue with IMU communication that is quickly resolved). Instead, the code should store the latest IMU angle and use that if communications are disrupted.