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2016-06-10 04:21:10 -0500 | asked a question | Multi imu with TF in RVIZ I want to implement human upper arm motion capture with multi IMU, I was successfully implement one with the help of IMU Plugin in RVIZ and now I am thinking of 2. I found that the location of the first IMU won't change and I think it because I set its frame to be world and the second IMU's location should be change by time cause it is bound to the upper arm. I have 2 problems, 1st is that I go through the tutorials but I still face some problems because I read data in a function and it runs loop based on the sampling time so I am thinking of it like publishing nodes which I put tf::TransformBroadcaster sensor2pose_br; tf::Transform sensor2pose_trans; in the very beginning but when I compile it it shows that ROS should be initialize first and then I try to put it inside of the function, it works but this time I am not able to send IMU1's message to the topic. What should I do and a small example will be of a lot help. 2nd Problem is that I need to set TF for IMU2, TF needs location and rotation, the rotation I can get from IMU1 and IMU2'S quaternion but the location is a problem. I assum the distance is always the same since they are bounded to the same human's arm, then how can I get the location from this distance and the rotation angle( quaternion or yaw,pitch,roll) Thanks a lot if you can help. |
2016-04-20 04:48:37 -0500 | asked a question | IMU data processing in Ros I've successfully connect my libfreespace with ros and I successfully build up the connection between publisher and topic. But the problem is that the time interval between two data is not the same and my tutor advised me to use a buffer. For example, the time interval is approximately 0.008s , I get a buffer of 0.02s and generate a vector and publish it to the topic. But how can this be done? And another problem is that I use 2 imus so the Synchronization is a problem, my idea is that one IMU data can start faster than the other so we don't use the first several data. but how can it be done? I use the ros header time stamp of current time to record the time. |
2016-04-20 04:48:37 -0500 | asked a question | IMU with Ros I've successfully connect my libfreespace with ros and I successfully build up the connection between publisher and topic. But the problem is that the time interval between two data is not the same and my tutor advised me to use a buffer. For example, the time interval is approximately 0.008s , I get a buffer of 0.02s and generate a vector and publish it to the topic. But how can this be done? And another problem is that I use 2 imus so the Synchronization is a problem, my idea is that one IMU data can start faster than the other so we don't use the first several data. but how can it be done? I use the ros header time stamp of current time to record the time. |