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sensor_msgs/Imu Frame of reference?

What is the frame of reference for sensor_msgs/Imu?

It seems vague.

If the gyro rotate in counter clockwise direction around +Z direction is angular_velocity.z positive or negative?

If the robot is stationary then would linear_acceleration.z be +9.8 m/s^2 or -9.8 m/s^2 ?

If the robot moves from zero velocity to 1m/s in the X direction would linear_acceleration.x be positive or negative?

sensor_msgs/Imu Frame of reference?

What is the frame of reference for sensor_msgs/Imu?

It seems vague.

If the gyro rotate in counter clockwise direction around +Z direction is angular_velocity.z positive or negative?

If the robot is stationary then would linear_acceleration.z be +9.8 m/s^2 or -9.8 m/s^2 ?

If the robot moves from zero velocity to 1m/s in the X direction would linear_acceleration.x be positive or negative?