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How should RPY converted from an IMU look like? [closed]

asked 2015-06-25 04:18:30 -0500

What angles should be there?

0°-360° ?

-180° - 0° - 180° ?

Or something else?

I am for example using this code and I am getting weired results...

void cb_imu(const sensor_msgs::Imu::ConstPtr &msg)
    double roll, pitch, yaw;

    tf::Quaternion q;
    tf::quaternionMsgToTF(msg->orientation, q);
    tf::Matrix3x3(q).getRPY(roll, pitch, yaw);
ROS_INFO_STREAM("RPY: "<<roll*180.0/M_PI<<" "<<pitch*180.0/M_PI<<" "<<yaw*180.0/M_PI);

My Results of YAW show two times zero, for one half of the circle the values are negative (go up to -40°) and for the other half the same for positive values.



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Closed for the following reason the question is answered, right answer was accepted by cyborg-x1
close date 2015-06-26 04:04:19.513957

1 Answer

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answered 2015-06-26 04:00:37 -0500

I tried around and got a suitable calibration for it.

Now I think it should be -180° - 0° 180° degree.

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Asked: 2015-06-25 04:18:30 -0500

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Last updated: Jun 26 '15