Cannot find any data in the /insstdev topic.

[sagniknitr]

The novatel driver is unable to log/parse data from the sensor into the /insstdev topic. Any help regarding this is highly appreciated.

[pjreed]

What model device are you using, and what does your configuration for the node look like? Is it correctly publishing other topics?

[kelvin-sudani]

This is for ProPak6. It looks similar to #18.
It is correctly publishing the other topics.

[pjreed]

I believe the INSSTDEV log actually does not exist on OEM6 devices; it was added in OEM7.
For comparison, here's the OEM6 firmware reference manual: https://www.novatel.com/assets/Documents/Manuals/OM-20000144UM.pdf
And the OEM7 reference page is here:
https://docs.novatel.com/OEM7/Content/SPAN_Logs/OEM7_SPAN_Logs.htm?tocpath=Logs%7CView%20Logs%7CSPAN%20Logs%7C_____0

Depending on what data you need, you might be able to use the INSCOV log instead, or there might be another log that has it.

[kelvin-sudani]

Essentially we are trying to get /odom topic similar to the one from novatel_span_driver: line 171-214. Now for this we found all the necessary values from other topics except inspvax.pitch_std , inspvax.roll_std, inspvax.azimuth_std.

[pjreed]

INSCOV has an attitude covariance matrix, and I think you could extract the standard deviations you want from that. The driver does something similar at https://github.com/swri-robotics/novatel_gps_driver/blob/master/novatel_gps_driver/src/novatel_gps.cpp#L935 to fill in the orientation covariance in IMU messages.

[kelvin-sudani]

@pjreed Got it. Thanks.

[pjreed]

Great, let me know if you need anything else.