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2015-08-20 15:52:52 -0500 asked a question robot_state_publisher, for gazebo only or for actual robot?

Hi all

The robot_state_publisher publishes transform (which is usually based on the URDF file specified). But when we are talking about the URDF file, we are usually talking about Gazebo, which is for simulation.

Ok. But if I want to do ACTUAL physical robot, do I still need to use robot_state_publisher to publishes transform? I am confused. If robot_state_publisher still publishes transform, what happen to the PHYSICAL base driver of the robot? From what I know, the base driver publishes odometry and transform as well. I am very confused.

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2015-07-03 16:20:12 -0500 asked a question Combining (accelerometer with gyro) data to calculate [position + velocity]

Hi all

I have a bag of data collected from accelerometer and gyro.Specifically, they are:

Acclerometer------>Linear acceleration in (x,y,z) direction: ax,ay,az

Gyro------------------>Angular acceleration around (x,y,z) direction: Ox, Oy, Oz.

The problem is that I will need to publish the "/odom" using these data at hands. As we know, /odom will need the [position, velocity, orientation] information. And we must calculate these using the bag of data we have from acclerometer and gyro sensors.

The question is that, is there a way for me to calculate or estimate [position, velocity, orientation] using data from acclerometer and gyro sensors?

2015-06-26 16:28:13 -0500 asked a question twist message: angular velocity unit

Quick question, the nav_msgs: twist has angular component in x,y,z. I view this as the velocity of rotation with respect to x-axis, y-axis, and z-axis. But what is the unit of such velocity. Degree/second or radiant/second?