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Hi everyone!
Can I assume that the data output of the imu_node.py are given in ENU?
In the code the are several anotation related to this topic:
#in AHRS firmware z axis points down, in ROS z axis points up (see REP 103)
yaw_deg = -float(words[0])
yaw_deg = yaw_deg + imu_yaw_calibration
if yaw_deg > 180.0:
yaw_deg = yaw_deg - 360.0
if yaw_deg < -180.0:
yaw_deg = yaw_deg + 360.0
yaw = yaw_deg*degrees2rad
#in AHRS firmware y axis points right, in ROS y axis points left (see REP 103)
pitch = -float(words[1])*degrees2rad
roll = float(words[2])*degrees2rad
# Publish message
# AHRS firmware accelerations are negated
# This means y and z are correct for ROS, but x needs reversing
imuMsg.linear_acceleration.x = -float(words[3]) * accel_factor
imuMsg.linear_acceleration.y = float(words[4]) * accel_factor
imuMsg.linear_acceleration.z = float(words[5]) * accel_factor
imuMsg.angular_velocity.x = float(words[6])
#in AHRS firmware y axis points right, in ROS y axis points left (see REP 103)
imuMsg.angular_velocity.y = -float(words[7])
#in AHRS firmware z axis points down, in ROS z axis points up (see REP 103)
imuMsg.angular_velocity.z = -float(words[8])
Thank you!
The text was updated successfully, but these errors were encountered:
Hi everyone!
Can I assume that the data output of the imu_node.py are given in ENU?
In the code the are several anotation related to this topic:
Thank you!
The text was updated successfully, but these errors were encountered: