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Configuring xsens_driver for XSENS IMU in ROS Here I employ xsens MTI-G IMU which is orange in colour.
I am working in ROS FUERTE on ubuntu 12.04 using the xsens_driver package that ships in ethzasl_xsens_driver.
I tried to get all the relevant data from IMU namely orientation orientation covariance angular velocity angular velocity covariance linear acceleration linear acceleration covariance
Configuration steps
The above command should result in something like this
Configuring mode and settings Ok
Running the driver
roslaunch xsens_driver xsens_driver.launch
rostopic echo /imu/data
Then it should display
header:
seq: 166
stamp:
secs: 1396073832
nsecs: 314651012
frame_id: /imu
orientation:
x: -0.00116935407277
y: -0.0249380189925
z: 0.306782633066
w: 0.95145213604
orientation_covariance: [0.017453292519943295, 0.0, 0.0, 0.0, 0.017453292519943295, 0.0, 0.0, 0.0, 0.15707963267948966]
angular_velocity:
x: 0.00783694628626
y: -0.0136562986299
z: 0.00587089639157
angular_velocity_covariance: [0.0004363323129985824, 0.0, 0.0, 0.0, 0.0004363323129985824, 0.0, 0.0, 0.0, 0.0004363323129985824]
linear_acceleration:
x: 0.347801417112
y: -0.202733114362
z: 9.81818389893
linear_acceleration_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004]
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Good day!