Hi together,
I already took a look into the other post that discussed how to get higher imu frequency. My goal is to receive higher imu in ROS/ROS2. If you have a fresh BlueOS install with ROS extension and check the /mavros/imu/data or /mavros/imu/data_raw the frequency is low at around 2 hz. For any kind of EKF or similar this is not sufficient.
Via the following command in the ROS extension the update rate can be increased:
rosrun mavros mavsys message_interval --id 27 --rate 100
The id 27 referes to the RAW_IMU topic which is published under /mavros/imu/data_raw. As you can see in the image, the rate is somehow capped at ~40 hz.
I tried the same with a second Raspberry Pi 4 that’s connected to the BlueBoat ethernet switch, changed the MAVLink Endpoint GCS Client Link to the IP of the second Pi and ran a ROS2 mavros node. Same rate limit can be seen here:
Am I missing some Ardupilot parameter that I need to change or is this limit caused by internal Ardupilot Navigator firmware?
Would love any help.
Best regards
Marko