Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Kobuki "gyro" versus "inertia" packets?

kobuki

asked 2016-03-31 12:00:25 -0500

Pi Robot
4046 ●134 ●158 ●192 http://www.pirobot.org/

Hello,

I have a Kobuki (a.k.a. TurtleBot 2) and I am trying to understand some of the source code in the kobuki and kobuki_core packages. Specifically, the inertia.hpp file refers to both the angle and the angle_rate. I was wondering how the raw angle is obtained at this low level if only a gyro is used? Also, there is a separate three_axis_gyro.hpp file that seems to be handling the gyro so I'm not sure which data is actually being used to compute the Kobuki's orientation.

Can someone help me find where in the source code the robot's orientation angle (around the z-axis) is actually computed or measured?

Thanks!
patrick

http://www.pirobot.org/wordpress

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2016-04-24 09:21:01 -0500

woshidag
16 ●1

updated 2016-04-24 10:07:39 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

source code in kobuki.cpp

ecl::Angle<double> Kobuki::getHeading() const
{
  ecl::Angle<double> heading;
  // raw data angles are in hundredths of a degree, convert to radians.
  heading = (static_cast<double>(inertia.data.angle) / 100.0) * ecl::pi / 180.0;
  return ecl::wrap_angle(heading - heading_offset);
}

double Kobuki::getAngularVelocity() const
{
  // raw data angles are in hundredths of a degree, convert to radians.
  return (static_cast<double>(inertia.data.angle_rate) / 100.0) * ecl::pi / 180.0;
}

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

Asked: 2016-03-31 12:00:25 -0500

Seen: 213 times

Last updated: Apr 24 '16

Kobuki "gyro" versus "inertia" packets? edit

1 Answer

Question Tools

Stats

Related questions

Kobuki "gyro" versus "inertia" packets?