IMU sensor is in which frame, ENU or NED frame??
Hi everyone,
I want to use robot-localization package. in the following link (https://github.com/cra-ros-pkg/robot_...), it is mentioned that :
"Like all nodes in robot_localization, this node assumes that your IMU data is reported in the ENU frame. Many IMUs report data in the NED frame, so you'll want to verify that your data is in the correct frame before using it."
How can I identify that my IMU sensor is in which frame, ENU or NED frame??
rostopic echo -n1 /gx5/imu/data
header:
seq: 71459
stamp:
secs: 1633621764
nsecs: 460809690
frame_id: "gx5_link"
orientation:
x: 0.000892150623258
y: 0.0127926189452
z: 0.817240595818
w: 0.576153993607
orientation_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
angular_velocity:
x: 0.000686915649567
y: 0.000812033424154
z: 0.00363250309601
angular_velocity_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
linear_acceleration:
x: 0.182726969216
y: -0.118418807248
z: -9.81554900765
linear_acceleration_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
thanks