IMU convention ENU (robot localization)

asked 2019-06-11 08:55:57 -0500

mateusguilherme gravatar image

Hello

I'm starting to use the robot_localization package and would like to know if my inertial motion unit is in the ENU convention .. how can I know?

my imu WT901C - datasheet: http://wiki.wit-motion.com/english/li...

image description

my /imu_raw

header: 
  seq: 79393
  stamp: 
    secs: 1560259184
    nsecs: 885230064
  frame_id: "imu_link"
orientation: 
  x: -0.00958251953125
  y: -0.00180053710938
  z: -0.500183105469
  w: -0.865844726562
orientation_covariance: [0.025, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.025]
angular_velocity: 
  x: 0.0
  y: 0.0
  z: 0.0
angular_velocity_covariance: [0.02, 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, 0.0, 0.02]
linear_acceleration: 
  x: 0.067060546875
  y: 0.1916015625
  z: 9.86748046875
linear_acceleration_covariance: [0.04, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.04]
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