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The yaw for base_link and base_stabilized should be the same, it's only the roll and pitch angles that differ between both, as also described in the setup tutorial. You can use the hector_imu_attitude_to_tf to conveniently publish the base_stabilized->base_link transform using a IMU message. I just added this to the tutorial, too.

The yaw for base_link and base_stabilized should be the same, it's only the roll and pitch angles that differ between both, as also described in the setup tutorial. You can use the hector_imu_attitude_to_tf node to conveniently publish the base_stabilized->base_link transform using a IMU message. I just added this to the tutorial, too.