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Hector_Slam Imu How to set up the tf tree

asked 2012-08-30 22:56:09 -0500

Tirgo gravatar image

Hi all

I'm currently working with hector_slam for creating maps. I have written a package for my imu which offers me a rotation matrix, so that i can calculate roll, pitch and yaw.

My question is: How should i connect them to the hector_slam tf tree?

Roll, pitch to base_stabilized->base_link and Yaw for orientation to base_footprint->base_stabilized?

or can i put them all together to base_stabilized->base_link? Makes it any difference?

Thx for your response

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answered 2012-08-31 00:59:21 -0500

updated 2012-08-31 00:59:34 -0500

The yaw for base_link and base_stabilized should be the same, it's only the roll and pitch angles that differ between both, as also described in the setup tutorial. You can use the hector_imu_attitude_to_tf node to conveniently publish the base_stabilized->base_link transform using a IMU message. I just added this to the tutorial, too.

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I have mpu6050 and raspberry pi. I have written a code to publish the yaw, pitch and roll from imu. Now, how can I make hector_imu_attitude_to_tf node get this data? I mean, should I change any lines of code or will it directly subscribe to these values?

NAGALLA DEEPAK gravatar image NAGALLA DEEPAK  ( 2018-02-01 23:57:58 -0500 )edit

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Asked: 2012-08-30 22:56:09 -0500

Seen: 2,663 times

Last updated: Aug 31 '12