Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Hector_Slam Imu How to set up the tf tree

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

Tirgo
66 ●26 ●32 ●34

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

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

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

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

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.

edit flag offensive delete link

Comments

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 ( 2018-02-01 23:57:58 -0500 )edit

add a comment

Question Tools

Stats

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

Seen: 2,886 times

Last updated: Aug 31 '12

Hector_Slam Imu How to set up the tf tree edit

1 Answer

Comments

Question Tools

Stats

Related questions

Hector_Slam Imu How to set up the tf tree