ROS2与传感器教程-整合fdilink_ahrs惯导

说明

• 介绍如何整合使用fdilink_ahrs惯导

步骤：

• 利用rcm安装install_fdilink_ahrs驱动

#安装rcm
curl https://www.ncnynl.com/rcm.sh | bash -
#安装depthai_python_ros2
rcm -s install_fdilink_ahrs

测试：

• 执行命令

$ ros2 launch fdilink_ahrs ahrs_driver.launch.py 

• 效果图

---
header:
  stamp:
    sec: 1733902380
    nanosec: 154115729
  frame_id: gyro_link
orientation:
  x: -0.03355552628636368
  y: 0.0278851371258498
  z: -0.2158001065254212
  w: 0.9754623770713806
orientation_covariance:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
angular_velocity:
  x: -0.009066810831427574
  y: -0.0006804036675021052
  z: 3.1711642805021256e-05
angular_velocity_covariance:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
linear_acceleration:
  x: -0.3967309594154358
  y: -0.7769385576248169
  z: 9.829241752624512
linear_acceleration_covariance:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
---
header:
  stamp:
    sec: 1733902380
    nanosec: 164137883
  frame_id: gyro_link
orientation:
  x: -0.033555123955011444
  y: 0.02787777222692974
  z: -0.2158037126064301
  w: 0.9754618406295776
orientation_covariance:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
angular_velocity:
  x: -0.000553285179194063
  y: -0.0006754609057679772
  z: 0.0011635440168902278
angular_velocity_covariance:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
linear_acceleration:
  x: -0.3821878731250763
  y: -0.790207028388977
  z: 9.804306983947754
linear_acceleration_covariance:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
---