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Imu data not using pitch or roll

asked 2017-06-07 08:09:44 -0500

BlastMcGuirk gravatar image

I am working on getting my Turtlebot 2 to detect a change in slope. I was hoping to use the built in gyroscope in kobuki to detect when the pitch changes more than some arbitrary number. The problem is, that the Imu data is only showing 0's for both x, and y. Is there any way to "activate" the gyro to use all three orientations? The covariance for these values are also 0. It looks like this

header:
  seq: 213
  stamp:
    secs: 14...
    nsecs: 85...
  frame_id: gyro_link
orientation:
  x: 0.0
  y: 0.0
  z: 0.02248192
  w: .99925125
orientation_covariance: [1.79769206832e+308, 0.0, 0.0, 0.0, 1.79769206832e+308, 0.0, 0.0, 0.0, 0.05]
angular_velocity:
  x: 0.0
  y: 0.0
  z: -.01188310581
angular_velocity_covariance: [same as orientation_covariance]
linear_acceleration:
  x: 0.0
  y: 0.0
  z: 0.0
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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answered 2017-06-07 10:45:30 -0500

Haibo gravatar image

It seems Turtlebot 2 is using 1-axis gyro. For your application, you may need to add an external 3-axis gyro.

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The turtlebot 2 comes with a 3-axis gyro, as shown on this site here: http://www.robotnik.es/web/wp-content... also, when i use a turtlebot 2 in Gazebo, it uses all 3 axes too.

BlastMcGuirk gravatar image BlastMcGuirk  ( 2017-06-07 11:41:33 -0500 )edit

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Asked: 2017-06-07 08:09:44 -0500

Seen: 204 times

Last updated: Jun 07 '17