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Yaw angle of lse_xsens_mti behaves weirdly

asked 2011-11-03 18:51:49 -0600

PKG gravatar image

updated 2011-11-03 18:52:17 -0600

I ran the lse_xsens_mti driver on my robot . I had it turn 360 degrees at a uniform velocity, and computed the Yaw angle output by the driver data in two ways:

  1. Using the tf::getYaw() function on the quat formed by the orientation.x,y,z,w values output by imu/data.

  2. By atan2(w,z)*2 on the z and w values.

In both cases, the Yaw angle didn't vary uniformly with time as the robot turned. What could be wrong?

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The lse_xsens_mti driver did not see much testing since it was created, I will take a look at it and update it soon!

Gonçalo Cabrita gravatar image Gonçalo Cabrita  ( 2012-03-13 08:38:59 -0600 )edit

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answered 2012-03-14 01:41:19 -0600

Apparently there was a bug on MTi.h discovered by Prof. Dr. Stefan May which as already been corrected. Could you please verify that the software now works as expected?

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Asked: 2011-11-03 18:51:49 -0600

Seen: 268 times

Last updated: Mar 14 '12