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Calibrating IMUs

asked 2015-11-11 16:39:28 -0500

The_Mad_Geometer gravatar image

Dear Ros Community,

I now have 3 IMUs installed on my Clearpath Husky. The IMUs are a Microstrain 3DM-GX2, a Microstrain 3DM-GX3, and a Microstrain 3DM-GX4. The 3DM-GX2 and 3DM-GX3 both use the 3DM-GX2 node:

The 3DM-GX4 uses its namesake node, found here:

How do I calibrate the 3DM-GX3 and 3DM-GX4 IMUs? I will need step-by-step instructions as I am very new to working with hardware.

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answered 2015-11-13 07:39:37 -0500

Tom Moore gravatar image

updated 2015-11-13 07:40:32 -0500

The Husky has an IMU calibration tool in the scripts directory:

You can also hook the IMUs up (while still on the robot) to a laptop running Windows and use Microstrain's own software to do calibration; the calibration parameters are then stored directly on the IMU itself.

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Asked: 2015-11-11 16:39:28 -0500

Seen: 807 times

Last updated: Nov 13 '15