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1 | initial version |
I haven't looked at the bag data, but just a few things I note looking at your data and configuration.
frame_id
to imu_link
. Also, what units are your IMU velocities and the static_transform_publisher
in? ROS uses radians, and those look suspiciously like degrees.If your IMU is mounted as you say, then I'd expect this. Keep in mind that tf
and tf2
assume that the order is X Y Z yaw pitch roll
, though I believe they are applied extrinsically with roll, then pitch, then yaw. Experiment with values here and look at the frame in rviz to confirm.
<node pkg="tf2_ros" type="static_transform_publisher" name="transform" args="0 0 0 -1.5707963268 0 -1.5707963268 base_link imu_link" />
frame_id
. There is a bug at the time of this writing, though, so I suggest making the transform the identity (all zeros) for now.2 | No.2 Revision |
I haven't looked at the bag data, but just a few things I note looking at your data and configuration.
frame_id
to imu_link
. Also, what units are your IMU velocities and the static_transform_publisher
in? ROS uses radians, and those look suspiciously like degrees.If your IMU is mounted as you say, then I'd expect this. Keep in mind that tf
and tf2
assume that the order is X Y Z yaw pitch roll
, though I believe they are applied extrinsically with roll, then pitch, then yaw. Experiment with values here and look at the frame in rviz to confirm.
<node pkg="tf2_ros" type="static_transform_publisher" name="transform" args="0 0 0 -1.5707963268 0 -1.5707963268 base_link imu_link" />
frame_id
. There is a bug at the time of this writing, though, so I suggest making the transform the identity (all zeros) for now.3 | No.3 Revision |
I haven't looked at the bag data, but just a few things I note looking at your data and configuration.
frame_id
to imu_link
. Also, what units are your IMU velocities and the static_transform_publisher
in? ROS uses radians, and those look suspiciously like degrees.If your IMU is mounted as you say, then I'd expect this. Keep in mind that tf
and tf2
assume that the order is X Y Z yaw pitch roll
, though I believe they are applied extrinsically with roll, then pitch, then yaw. Experiment with values here and look at the frame in rviz to confirm.
<node pkg="tf2_ros" type="static_transform_publisher" name="transform" args="0 0 0 -1.5707963268 0 -1.5707963268 base_link imu_link" />
frame_id
. There is a bug at the time of this writing, though, so I suggest making the transform the identity (all zeros) for