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Turtlebot calibration(Still waiting for imu/scan)

asked 2011-06-22 21:20:40 -0500

ccm gravatar image

When I type "roslaunch turtlebot_calibration calibrate.launch", the terminal shows

[INFO] [WallTime: 1308820084.864965] Estimating imu drift
[INFO] [WallTime: 1308820085.165909] Still waiting for imu
[INFO] [WallTime: 1308820085.466922] Still waiting for imu
[INFO] [WallTime: 1308820085.767989] Still waiting for imu

Eariler on, it showed

[INFO] [WallTime: 1308820084.864965] Estimating imu drift
[INFO] [WallTime: 1308820085.165909] Still waiting for scan
[INFO] [WallTime: 1308820085.466922] Still waiting for scan
[INFO] [WallTime: 1308820085.767989] Still waiting for scan

Does anybody know what these two messages might suggest? I can't understand the code.

Extra info:

-Using a bumblebee2 camera instead of a kinect

-I am using a MicroStrain 3DM-GX2 IMU for turtlebot, I changed the frame_id to gyro_link and the remapped the topic "imu/data" robot_pose_ekf subscribes to to "bumblebee2/bumblebee2/imu/data" so that the imu messages can reach robot_pose_ekf. Despite doing this, I'm not sure if the gyro is working properly as I still get "Bad Gyro Calibration" under diagnosis

Let me know if you require and extra information, I'm not too sure what is relevant. Thanks in advance!

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answered 2011-06-22 22:08:21 -0500

dornhege gravatar image

I think the calibration tool is expecting the imu under the standard topic. When you remap it, it cannot find that anymore as no one is publishing there.

You can change the remapping back to the original or if you don't want that, change the calibration launch script (or make your own) to remap to your imu topic.

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answered 2011-06-23 07:21:50 -0500

tfoote gravatar image

The TurtleBot publishes two IMU data streams, imu/data and imu/raw. Where the raw one is unfiltered and the imu/data is bias compensated. This is allows for better performance with the cheap IMU used on the TurtleBot.

The calibration uses the imu/raw and estimates the bias. You will need to remap the input to the calibration to match the output of your 3dmgx.

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Asked: 2011-06-22 21:20:40 -0500

Seen: 896 times

Last updated: Jun 23 '11