I just got my Sentinel with VOXL 2 installed on the drone. I want to another IMU and want to design a top mount. So, I am looking for dimensions and CAD models of the flight deck casing of VOXL - 2. Can you please provide me the CAD models?
Best posts made by Jagatpreet Nir
Latest posts made by Jagatpreet Nir
VOXL2 - flight deck CAD model availability
RE: No time sync between imu messages and tracking camera image messages in ROS
ok. But in the ros-topics I am getting messages at ~220 hz only. Do I need to configure anything to record the ros imu messages at 1 Khz.
Another clarification I will need is the mv-vislam library uses IMU from the modal pipes at 1 kHz with 30 Hz images from the camera server.
No time sync between imu messages and tracking camera image messages in ROS
I recorded a rosbag from M500 and looked closely at the timestamps (header.stamp in ros messages) of my imu messages [IMU0) and image messages (tracking camera). I see that they are not synced. I am attaching the files in drive link for your perusal. The timestamp I am providing in the files is directly obtained from ros messages. There is no post processing.
Please clarify if the ros messages should be time synced for IMU0 and tracking camera as expected for a good VIO stack or I am missing something.
Another thing to note is I am seeing perfect time sync in the stereo images.
IMU specifications and VIO performance documentation on VOXL
The VOXL documentation shows two IMUs imu1 (ICM-20948) and imu0 (ICM-42688-P). In the documentation, it is recommended to use imu 1 (ICM-20948) as it gives better VIO performance. https://docs.modalai.com/voxl-flight-datasheet-imus/
However, when I looked at the datasheets of these two IMUS - it is IMU0 (ICM-42688) that has lower gyroscopic and accelerometer noise and should perform better VIO for the same camera. The datasheet links are below