imu_node calibration check failed [closed]

asked 2014-05-18 21:52:39 -0600

mark_vision gravatar image

Hi guys, I have troubles in running my microstrain node. When I launch the imu_node package after changing the parameter port from ttyUSB0 to ttyACM0, which turned out to be the correct port for the IMU, I receive the following error:

Imu: calibration check failed: average angular drift = 51.214789 mdeg/sec > 11.459156 mdeg/sec

when I try to manually calibrate I receive the same error (with different values but with the same inequality result.

I also want to know why is there a time offset inside the launch file and where this offset is used because I also have synch problems as explained in another question http://answers.ros.org/question/16517...

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Closed for the following reason question is not relevant or outdated by mark_vision
close date 2017-09-27 02:22:21.348950

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Hi there mark_vision, I am also using a Microstrain IMU with the imu_node and I am having the same problem. Did you find a way to solve the "failed calibration" error? Thanks in advance, Antoine

Antoine gravatar image Antoine  ( 2014-06-10 20:27:35 -0600 )edit

no :( For now I'm just ignoring the issue, since there's something published on the topic

mark_vision gravatar image mark_vision  ( 2014-06-11 03:31:14 -0600 )edit

Thanks for your answer. I too am using the imu data as it is for now, I'll post a solution here if I ever find one.

Antoine gravatar image Antoine  ( 2014-06-12 21:47:59 -0600 )edit

HI guys, I met the same problem with you, the gyro calibration problem, did you find the solution ? two years flied........

Wine gravatar image Wine  ( 2016-05-10 00:25:41 -0600 )edit

anybody figure this out?

l0g1x gravatar image l0g1x  ( 2016-05-28 16:59:09 -0600 )edit

I believe the error is caused by the fact that the IMU is not perfectly static when starting the driver. The ROS driver is trying to estimate the gyro bias, but the value exceed a preset threshold. This means that either the threshold is too low for that kind of IMU, or the IMU is not static enough

mark_vision gravatar image mark_vision  ( 2016-07-28 02:00:44 -0600 )edit

I suggest to read this short article for further information on

mark_vision gravatar image mark_vision  ( 2016-07-28 02:02:47 -0600 )edit

imu bias gyro

mark_vision gravatar image mark_vision  ( 2016-07-28 02:03:39 -0600 )edit
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