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In IMU message, x,y and z values under angular_velocity
correspond to roll rate, pitch rate and yaw rate respectively. Because, roll is rotation around x axis, pitch is around y and yaw is around z. Angles are represented as quaternion under orientation
. They are not Euler angles directly. You should convert them from Quaternion to Euler angles. Check Wikipedia for description about Quaternions: https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation.
linear_acceleration
values should be represented as m/s^2 unless otherwise stated. You should check REP-103 (http://www.ros.org/reps/rep-0103.html) for dimension and coordinate standards in ROS.
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In IMU message, x,y and z values under angular_velocity
correspond to roll rate, pitch rate and yaw rate respectively. Because, roll is rotation around x axis, pitch is around y and yaw is around z. Angles are represented as quaternion under orientation
. They are not Euler angles directly. You should convert them from Quaternion to Euler angles. Check Wikipedia for description about Quaternions: https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation.
linear_acceleration
values should be represented as m/s^2 unless otherwise stated. You should check REP-103 (http://www.ros.org/reps/rep-0103.html) for dimension and coordinate standards in ROS.
For publish frequency of a topic you can use, rostopic hz /mavros/imu/data_raw