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You are correct in that you can't use the _remove_gravitational_acceleration
parameter if your IMU doesn't provide orientation. However, note that yaw is not used in the calculation of the gravity vector correction. Imagine your robot is on a ramp and facing north. The gravity vector will be split into two components: X (forward) and Z (downward). Now imagine the ramp is facing east. The gravity vector still only comprises X and Z components of linear acceleration. Only your roll and pitch angles will make any difference in removing the gravity vector, so if you have orientation data, I'd include it in your IMU message.
A few notes:
base_link
->imu
static transform.