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IMU data in Kobuki

asked 2014-06-30 09:23:35 -0500

domikilo gravatar image

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
header: 
  seq: 0
  stamp: 
    secs: 1355022789
    nsecs: 36483345
  frame_id: gyro_link
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?

jihoonl gravatar image jihoonl  ( 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

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

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answered 2014-07-07 08:09:51 -0500

bit-pirate gravatar image

updated 2014-07-07 08:10:03 -0500

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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Asked: 2014-06-30 09:23:35 -0500

Seen: 1,333 times

Last updated: Jul 07 '14