# Turtlebot3 imu calibration

Hello, I am currently doing a project using turtlebot3 on ros2 foxy. I am currently trying to use the extended kalman filter available at https://github.com/cra-ros-pkg/robot_.... The main issue I am facing is that my z acceleration on the imu is non 0. I understand that the z acceleration includes gravitational acceleration, as such I have enabled the option in the robot_localization package to remove gravitational acceleration, however in the rviz2 my robot is "flying" upwards due to z acceleration. Upon checking the values of the imu using ros2 topic echo /imu I checked the z acceleration and found out that it was 10 point something instead of the expected 9.8, this leads me to believe there is a calibration error in the imu on the openCR, possibly due to extra flex on the openCR board when it is mounted. However, I have not been able to find any resource on calibrating this particular imu, and from what I read, the imu has a run time calibration, my question is, how do I calibrate the imu or at least correct the error?

edit retag close merge delete