IMU data in Kobuki

Hi all, I have already read the IMU data from kobuki node successfully, but I dont know the data meaning. The data looks like the below

 \$ rostopic echo /mobile_base/sensors/imu_data
seq: 0
stamp:
secs: 1355022789
nsecs: 36483345
orientation:
x: 0.0
y: 0.0
z: 0.28769484546
w: 0.957722128749
orientation_covariance: [1.7976931348623157e+308, 0.0, 0.0, 0.0, 1.7976931348623157e+308, 0.0, 0.0, 0.0, 0.005]
angular_velocity:
x: 0.0
y: 0.0
z: 0.000349065850399
angular_velocity_covariance: [1.7976931348623157e+308, 0.0, 0.0, 0.0, 1.7976931348623157e+308, 0.0, 0.0, 0.0, 0.005]
linear_acceleration:
x: 0.0
y: 0.0
z: 0.0
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]


So which direction is the x, y or z axis in the turtlebot kobuki?

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What do you mean by which direction is the x, y or z axis in the turtlebot kobuki? Can you explain it more?

( 2014-06-30 23:19:24 -0500 )edit

As I know the orientation's data is in the quaternion, and how about the angular_velocity, and linear_acceleration, and which direction of x,y,z axis it means which axis is horizontal or vetical direction

( 2014-07-02 01:47:14 -0500 )edit

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The coordinate system often used for the root frame (base_link) of (ROS) robots as well as for Kobuki/Turtlebot has its x-axis pointing forward in driving direction, the z-axis pointing upwards and the y-axis pointing to the left (right hand rule).

Use this coordinate system when interpreting the orientation, angular velocity and linear acceleration of Kobuki/Turtlebot.

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