OAK-D-LR imuExtrinsics not merged

[dylan-gonzalez]

How come the adding_IMU_tmp branch hasn't been merged? It has the commit that adds the imuExtrinsics, which I need to use to define the tf camera_link -> imu_link for the oak-d-lr here. Just curious as to why it hasn't been merged.

Also, how do I know what IMU my OAK-D-LR has? In the depthai hardware docs, it says that it has a BNO085, but on the shop page it says it has a BNO086.

[themarpe]

@dylan-gonzalez its WIP, we are working on adding the spec extrinsics directly to FW, with this branch supplementing it from "at calibration time".

Also, how do I know what IMU my OAK-D-LR has? In the depthai hardware docs, it says that it has a BNO085, but on the shop page it says it has a BNO086.

These two IMUs differ only in FW version. BNO086 should be same as BNO085 with updated FW. We update the FW, so should be treated as BNO086

[dylan-gonzalez]

Do you have covariance values for the BNO086? When I run the depthai_ros_driver, the covariance values are all zeros.

[themarpe]

@Serafadam do we have those available?

[Serafadam]

Hi, unfortunately currently those values are not provided in the datasheets and firmware, though they should be added after the IMU calibration process updates.

[dylan-gonzalez]

When will that be?

[dylan-gonzalez]

So is it safe to use these extrinsics (which are for the BNO084) for the BNO086 in the OAK-D-LR?

[themarpe]

@Serafadam do you mind verifying? Also is OAK-D-LR now also included?