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Hi, I have installed my IMU up side down on the robot. Basically, the z axis is pointed downward instead upward. I hope to use the IMU senor to measure robot pose. Now I got the quaternion from the IMU. How can I transfer the quaternion so I can get the robot pose?
Thank you
What do you need the transformation for?
If you use a URDF and make sure your IMU link is upside down in there too, the packages that use the IMU data will use your URDF to get the TF from base_link to imu_link automatically (I've done the same with lidars and never had issues).
You could also use a tf listener to request the transform between base_link to imu_link yourself (tutorial, I'm not sure if you want cpp or python).
If you want the "right side up" IMU data yourself, is point 4 or 5 relevant to you? It's about applying rotation or inverting your TF.
Asked: 2022-05-03 15:31:18 -0500
Seen: 250 times
Last updated: May 04 '22
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