Angular velocities on topic /twist_ins all zero

[abaeyens-imod]

Issue description

The angular velocities published on the topic /twist_ins are all zeros even when the platform is rotating and angular velocities are being published on the the /imu topic.

Nodes that currently want to observe both angular and linear velocity have to subscribe to two topics (/twist_ins and /imu) instead of only /twist_ins.

Steps to reproduce the issue

1. Setup Septentrio hardware and launch Septentrio ROS node.
2. Look at the values of /twist_ins/twist/twist/angular/x.

What's the expected result?

The angular velocities in the geometry_msgs/msg/TwistWithCovarianceStamped message are the best available estimates for the platform's angular velocity. This can be just the gyro measurements, like published on /imu, though preferably these measurements are already corrected (e.g. bias correction). They are expressed in the frame stated in the frame_id of this message.

What's the actual result?

They are always zero.

Additional details / screenshot

Graph created while moving around, time axis on the horizontal:

Version

Compiled septentro_gnss_driver from source, branch ros2, HEAD commit 207c37bc.

Thank you in advance for your time. In case there's any setting we missed, or more information is required, please share.

[thomasemter]

The SBi does not report the bias corrected or estimated angular velocities. We would have to use raw IMU measurements what I would rather not do, since they might be misleading due to their bias. It is always possible to pull these from the /imu message.