which imu is in ENU frame to be used in robot-localization pkg?
hi everyone,
I have two imu sensors, i want to know which of these sensors provide me the correct value? which of them are compatible with ENU convention? i don't know which of these sensors can be used in robot-localization pkg!!!
just to note that z axis in both imu is showing up! I would be grateful if someone helps!
IMU1:
---
header:
seq: 70754
stamp:
secs: 1643793793
nsecs: 917505690
frame_id: "gx5_link"
orientation:
x: -0.00222070445307
y: 0.00700274854898
z: 0.808141171932
w: 0.588943004608
orientation_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
angular_velocity:
x: 0.000555756385438
y: 0.00148306495976
z: 0.00340826343745
angular_velocity_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
linear_acceleration:
x: 0.0506784621673
y: -0.103927881103
z: -9.82127460122
linear_acceleration_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
IMU2
---
header:
seq: 22634
stamp:
secs: 1643888399
nsecs: 731243955
frame_id: "imu_link"
orientation:
x: 0.000677560098532
y: -0.0224182954157
z: -0.531560985908
w: 0.846723023901
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: -9.57846641541e-05
y: -0.000383116304874
z: 0.000659817829728
angular_velocity_covariance: [1.0966225545416819e-06, 0.0, 0.0, 0.0, 1.0966225545416819e-06, 0.0, 0.0, 0.0, 1.0966225545416819e-06]
linear_acceleration:
x: 0.368707060814
y: 0.280121594667
z: 10.1418380737
linear_acceleration_covariance: [0.0015387263847514987, 0.0, 0.0, 0.0, 0.0015387263847514987, 0.0, 0.0, 0.0, 0.0015387263847514987]
---
thanks a lot
@tom Moore hi, would you please guide me that which of these sensors are in ENU? and is appropriate to use in r-l pkg?
can anybody help?
hi the second imu, shows z: 10.1418380737 in linear-acceleration, should not it be +9.8??