由于在ROS 2中RViz2默认情况下并不支持对IMU数据的可视化显示,因此需要自己添加专门用于显示sensor_msgs/Imu消息数据的插件。本文将通过添加Github网站上的imu_tools开源存储库中的rviz_imu_plugin插件软件包来将IMU数据中的线性加速度、角速度、方位等数据在RViz2中进行可视化显示。 走过路过,千万不要错过!!!撰文不易...
-- IMU plugin for 'body_link' --><gazeboreference="body_link"><gravity>true</gravity><sensorname="imu_sensor"type="imu"><always_on>true</always_on><update_rate>100</update_rate><visualize>true</visualize><topic>__default_topic__</topic><pluginfilename="libgazebo_ros_imu_sensor.so"...
The IMU Plugin sample implements a sensor driver for a CAN-based IMU using the comprehensive sensor plugin framework. This uses a DriveWorksCAN Bussensor to provide raw data. It also provides sources for a refcounted-BufferPooldata structure that may be used as reference for other implementations...
一、ROS自带的IMU插件 ROS自带的IMU插件有2个,分别是:libgazebo_ros_imu_sensor.so和libgazebo_ros_imu.so。 libgazebo_ros_imu_sensor.so和libgazebo_ros_imu.so是两个不同的插件文件,用于 Gazebo 中的 IMU(惯性测量单元)传感器的 ROS 集成。 libgazebo_ros_imu_sensor.so: 这个插件是Sensor类型的插件。
1. **发布IMU数据**：使用Python编写一个ROS 2发布者节点，读取kitti数据集中oxts/data子目录中的.txt文件，从中提取方位、角速度和线性加速度数据，转换为sensor_msgs/Imu消息类型进行发布。确保在发布消息时仅包含方位、角速度和线性加速度数据及其协方差矩阵。2. **安装rviz_imu_plugin插件**：从...
rviz_imu_plugin:rviz插件,可显示sensor_msgs::Imu消息。 ROS org imu_tools官方介绍地址:http://wiki.ros.org/imu_tools github源代码地址:https://github.com/ccny-ros-pkg/imu_tools 2 安装 From binaries This repo has been released into all current ROS1 and ROS2 distros. To install, simply: ...
rviz_imu_plugin.png src imu_acc_visual.cpp imu_axes_visual.cpp imu_display.cpp imu_orientation_visual.cpp 29 changes: 29 additions & 0 deletions 29 rviz_imu_plugin/CMakeLists.txt Original file line numberDiff line numberDiff line change @@ -0,0 +1,29 @@ cmake_minimum_require...
IMUPlugin.h File ReferenceDetailed Description NVIDIA DriveWorks: IMU Sensor Plugin Interface Description: This file defines the interfaces to be implemented for IMU sensor plugins. Definition in file IMUPlugin.h. Go to the source code of this file. Data Structures struct dwSensorIMUPluginFunction...
IMUPlugin.h Go to the documentation of this file. 1 2// 3// Notice 4// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES 5// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO ...
$ sudo apt install ros-${ROS_DISTRO}-rviz-imu-plugin 然后启动上位机可视化软件: $ ros2 launch originbot_viz display_imu.launch.py 即可看到可视化的IMU信息,此时摇动机器人,Rviz中的坐标系也会跟随运动。 Hint: 确保在PC端已经安装好Ubuntu+ROS2系统,并且完成originbot_desktop代码仓库的下载和编译。此外...