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