razor_imu_9dof default orientation values?

asked 2022-02-14 12:10:32 -0500

FFelizpe gravatar image

Hello there!

I've recently bought a Sparkfun Openlog Artemis, and I've been having a great time with it, it's really good. I've been using the razor_imu_9dof library to make the ROS integration, as the description says it's compatible with the Openlog Artemis.

It works pretty fine, however, I'm a little confused with the interpretation of the orientation values. They seem a bit discrepant from what I'm used to with ROS - the W and Z aren't... changing as much as expected? Not that they're not working, they are, but their values seem to variate little - when I change the orientation of an object by 180º in RViz, the W/Z sometimes get to variate almost 2 values, from -1 to 1, but with the Openlog Artemis I haven't seen it variate more than 0.2, from 0.6 to 0.8.

It presents change when I change the orientation of the robot, which means it is working, but I'm finding it odd. Are those values normal? What are the default orientation values that I'm supposed to get when using the razor_imu_9dof library? I'm using ROS Kinetic, by the way.

Thanks in advance!

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