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Hi here are more detail about my implementation. In this dropbox folder you can find all source codes I used. Please see imu_launch.launch. the tf tree was generated without launching the tf_broadcaster2 node.

This is the message from my imu:

> header: 
  seq: 101808
  stamp: 
    secs: 1425169130
    nsecs: 265822954
  frame_id: imu_link
orientation: 
  x: 0.0141917338587
  y: -0.0190885799032
  z: -0.761129019373
  w: 0.648164205025
orientation_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
angular_velocity: 
  x: 0.00174532925199
  y: 0.0
  z: 0.010471975512
angular_velocity_covariance: [0.03, 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.03]
linear_acceleration: 
  x: -0.14317709
  y: -0.163771055
  z: -0.044129925
linear_acceleration_covariance: [0.06, 0.0, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.06]
---

and this is the odometry message:

> header: 
  seq: 32733
  stamp: 
    secs: 1425169127
    nsecs: 986912659
  frame_id: odom
child_frame_id: base_link
pose: 
  pose: 
    position: 
      x: 0.0
      y: 0.0
      z: 0.0
    orientation: 
      x: -0.0405862441429
      y: -0.0544590376651
      z: 0.884725386822
      w: 0.46113768
  covariance: [70082709835.63065, -259798211.75413123, -17498417981.253403, 0.0, 0.0, 0.0, -259798211.75396025, 70267513088.67305, 18010724790.448483, 0.0, 0.0, 0.0, -17498417981.253338, 18010724790.448723, 1156883984985.683, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 13.610154849790163, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 13.610154849790163, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 26.775125314374463]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: -0.00113914143655
      y: -0.000434430465949
      z: 0.00835982129424
  covariance: [4333730.030223489, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4333730.030223489, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 6500597.178315525, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0030484568884755984, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0030484568884755984, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.004248933364098904]
---