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Hi every one, I have a Xsens MTi IMU, When I get data from it using xsens_driver in ros, I found some numbers that are not the real numbers. when IMU is stable I see numbers and not changing, these numbers like accelartion should be zero but they aren't.
I think my sensor need a calibration. but I can not do it. any one can help how to calibrate this sensor?
try to subscribe imu topic with rostopic echo :
---
header:
seq: 288
stamp:
secs: 1330631562
nsecs: 789304161
frame_id: xsens_mti_imu
orientation:
x: 0.00401890464127
y: -0.00402884092182
z: 0.679586052895
w: 0.73357373476
...
---
If you observe the orientation field, you will see four variables instead of three, as you would probably expect. This is because in ROS, the spatial orientation is represented using quaternions.
The numbers shouldn't be zero. As it's real sensor data expect some noise on that, so x,y accel should be about zero. z acceleration usually has a magnitude around 9.81.
Asked: 2013-09-29 10:42:57 -0500
Seen: 1,432 times
Last updated: Jun 04 '14
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