Orientation Data from Duro Intertial

[ASR]

Hello all,

I have a Duro inertial and I am trying to get the orientation data (MSG ORIENT QUAT) in ROS using this ROS driver. According to the Swiftnav manual

''This message reports the quaternion vector describing the vehicle body frame’s orientation with respect to a local-level NED frame. The components of the vector should sum to a unit vector assuming that the LSB of each component as a value of 2ˆ-31"

Since I get the quaternion in NED frame and I have to use this orientation in ROS,  I had to convert to ENU frame, which I did by swapping x and y values and negating the z value, while keeping the w same. The way I am getting the orientation data is the following :

def cb_sbp_orientation(self,msg_raw,**metadata):

    msg = MsgOrientQuat(msg_raw)

    imu_msg = Imu()

    imu_msg.header.frame_id = 'imu_link'

    imu_msg.orientation.w = msg.w *(2**-31)

    imu_msg.orientation.x = msg.y *(2**-31)

    imu_msg.orientation.y = msg.x *(2*1)

    imu_msg.orientation.z = -msg.z *(2**-31)

Now this is where I start to run into issues :

1. Even after converting from NED frame to ENU frame, there seems to an offset in the ENU frame i.e. when my robot is facing north, its x axis (small red) must be aligned with the ROS north (long green)

The output from a different IMU which has ENU frame is like this   :

Ideally, the output from my Duro inertial should be this like this.

2. There seems to be a drift, although gradual, around the z axis.

Is there anything I am doing incorrectly? Did I misunderstand the following :

" The components of the vector should sum to a unit vector assuming that the LSB of each component as a value of 2ˆ-31" ?

Any help is appreciated

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