autodrive入门教程-测试-IMU测试

autodrive入门教程-测试-IMU测试

说明：

• 介绍如何测试IMU

ROS下测试IMU：

• [Racebot] 启动IMU驱动

$ roslaunch racebot_tools imu.launch

• rviz 查看

$ roslaunch racebot_rviz imu_rviz.launch

• 效果图：

• [Remote PC] 查看相关话题

$ rostopic list 

• [Remote PC] 读取IMU数据

$ rostopic echo /imu_data

• 数据如下：

---
header: 
  seq: 328
  stamp: 
    secs: 1551260780
    nsecs: 234694957
  frame_id: base_imu_link
orientation: 
  x: 0.00419112380065
  y: -0.0011557932593
  z: -0.435622802123
  w: 0.900118810432
orientation_covariance: [0.0025, 0.0, 0.0, 0.0, 0.0025, 0.0, 0.0, 0.0, 0.0025]
angular_velocity: 
  x: -0.0
  y: -0.0
  z: -0.0
angular_velocity_covariance: [0.02, 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, 0.0, 0.02]
linear_acceleration: 
  x: -0.004979609375
  y: 0.05286046875
  z: 9.95423914062
linear_acceleration_covariance: [0.04, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.04]

参考地址：

• https://github.com/sparkfun/9DOF_Razor_IMU/tree/v30/Firmware/_9DoF_Razor_M0_Firmware
• https://learn.sparkfun.com/tutorials/9dof-razor-imu-m0-hookup-guide
• https://github.com/sparkfun/SparkFun_MPU-9250-DMP_Arduino_Library
• https://github.com/cmaglie/FlashStorage
• https://github.com/lebarsfa/9DOF_Razor_IMU
• https://answers.ros.org/question/261398/sparkfun-9dof-razor-imu-sen-14001/
• https://github.com/KristofRobot/razor_imu_9dof/pull/34