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IMU ros orientation

asked 2015-02-03 09:19:30 -0600

asusrog gravatar image

updated 2015-02-03 09:22:42 -0600

Hello everyone,

This is a 2 part question:

1) I am building a differential drive robot. Which uses encoders and imu to get the orientation of the robot. The imu is an MPU9150 with TM4c1294xl microcontroller. I have successfully fused the gyro and magnetometer via a kalman filter to get an estimate of yaw (referenced with the initial conditions). I want to be able to publish yaw output from my imu via the rosserial package. I will be publishing the yaw output only, so my euler orientation should be (0,0,yaw) right? And which orientation convention does ros use. I am using North-East-Down(NED). I am using udoo board which is running rosserial on its arduino compatible microcontroller. The udoo is connected via i2c to my TM4c1294xl. My question is , does ros provide standard msg type to support euler angles from an imu ? could anyone please point me into the right direction.

2) Would i be better off by tilt compensating my magnetometer rather than just assume that the robot drives on plane surface through out. What are the pros and cons of not implementing it.

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answered 2015-02-03 11:45:37 -0600

Kristof gravatar image

As for the ROS axis convention, have a look at REP 103. Moreover, ROS has defined the IMU msg format to hold data from an IMU.

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See also this answer.

Thomas D gravatar image Thomas D  ( 2015-02-03 13:08:50 -0600 )edit

@Kristof: According to REP-103 & 105. The body frame is to be oriented (+X- north, +Y-west, +z-up). My imu uses (+Y-north, +X-east, +Z-up). should i be converting these orientations in the imu processing itself or i could somehow convert these notations under ROS?.

asusrog gravatar image asusrog  ( 2015-02-05 17:35:52 -0600 )edit

@asusrog It is probably best to convert to the ROS orientations at the moment you put the information from your imu into a ROS IMU msg. If you have full control over the firmware of your imu, you could also change it there - but this might be harder to maintain.

Kristof gravatar image Kristof  ( 2015-02-06 01:20:32 -0600 )edit

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Asked: 2015-02-03 09:19:30 -0600

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Last updated: Feb 03 '15