From c1d505ca3173d6714ca84a18f565056b0163fe2a Mon Sep 17 00:00:00 2001 From: Kazadhum Date: Tue, 21 Jan 2025 14:26:18 +0000 Subject: [PATCH] chore(config): added a warning for systems with imus #1000 added a warning for when a user tries configuring a system with an IMU, explaining it is still under development and not all calibration scripts are functional --- atom_calibration/scripts/configure_calibration_pkg | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/atom_calibration/scripts/configure_calibration_pkg b/atom_calibration/scripts/configure_calibration_pkg index af5a08ab..214687dc 100755 --- a/atom_calibration/scripts/configure_calibration_pkg +++ b/atom_calibration/scripts/configure_calibration_pkg @@ -591,6 +591,16 @@ if __name__ == "__main__": atomError('Config file has duplicate transform(s) ' + Fore.BLUE + str(duplicate_transforms) + Style.RESET_ALL + '. Invalid configuration.') + # NOTE: Development of IMU calibration will progress throughout the calibration pipeline, meaning some of the scripts created during configuration might not work if there is an IMU sensor and depending on the current stage of development. Adding a warning... + + imu_present = False + for sensor_key, sensor in config['sensors'].items(): + if sensor['modality'] == "imu": + imu_present = True + + if imu_present == True: + atomWarn('There is at least one sensor with modality "imu". At the moment, the calibration of systems involving IMU sensors is in development. As such, some of the scripts generated by this configuration might not be functional.') + # -------------------------------------------------------------------------- # Create dot calibration graph (used for printing out a summary) # --------------------------------------------------------------------------