ımu position on robot

asked 2015-08-26 01:51:57 -0600

osmancns
153 ●31 ●34 ●43

ı want use to imu on my robot. But ı cant understan how do I place my imu on my roboy. so imu see to which direction ?

my imu : http://wiki.ros.org/um7

http://i.imgur.com/MdeN9er.jpg

the feed direction robot will be imu's x direction ??

answered 2015-08-26 03:00:11 -0600

nickw

flag of United Kingdom of Great Britain and Northern Ireland

1504 ●5 ●32 ●31 http://twitter.com/tinkernick

it looks like the code takes this into account

Source file is here https://github.com/ros-drivers/um7/bl...

// IMU outputs [w,x,y,z], convert to [x,y,z,w] & transform to ROS axes
    imu_msg.orientation.x =  r.quat.get_scaled(1);
    imu_msg.orientation.y = -r.quat.get_scaled(2);
    imu_msg.orientation.z = -r.quat.get_scaled(3);
    imu_msg.orientation.w = r.quat.get_scaled(0);

so looks like you put it with the x pointing forwards from the robot, fixing the device so the it looks the right way up from its packaging - the code flips the values round to match right hand rule.

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Thanks @nickw. you think is it correct in this way : ????? http://i.imgur.com/UweLTQu.jpg

osmancns ( 2015-08-26 06:40:56 -0600 )edit

@nickw ı am not sure ???

osmancns ( 2015-08-27 02:01:42 -0600 )edit

I would expect that to be correct - the test now is to run the node and check the values you get make sense and change in the way you would expect to if you change the robots orientation.

nickw ( 2015-08-27 02:50:25 -0600 )edit

yes you are right...

osmancns ( 2015-08-28 02:53:41 -0600 )edit

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