// Register IMU raw data subscriber. imu_subscriber_.reset(new ImuSubscriber(nh_, ros::names::resolve("imu") + "/data_raw", queue_size)); 1. 2. 可以看出,imu_tools订阅的topic为imu/data_raw,而IMU发布的topic为/imu_data,因此需要修改代码,使topic一致: 将imu订阅的话题改为自定义的话题名称...
参考:https://blog.csdn.net/sinat_16643223/article/details/114698028 有两个imu数据,/mavros/imu/data_raw和/mavros/imu/data,前者没有orientation数据,后者有。 # 查看话题的发布频率 rostopic hz /mavros/imu/data_raw # 调整发布频率 /mavros/imu/data_raw 100hz rosrun mavros mavcmd long 511 105 10...
ISPRS P&RS成果:一种基于数据-模型联合驱动的LiDAR-IMU鲁棒融合定位系统 近日,武汉大学测绘遥感信息工程国家重点实验室-SNAIL课题组(PI:庄园教授)研究成果发表在测绘遥感领域顶级学术期刊ISPRS Journal ofPhotogrammetry and Remote Sensing,IF:...
constuint8_t *data =nullptr; size_tsize = 0; while(loop) { dwStatusstatus =DW_NOT_READY; while(status ==DW_NOT_READY) { dwSensor_readRawData(&data, &size, 1000000, imuSensor); status =dwSensorIMU_processRawData(data, size, imuSensor); ...
IMU器件与GPS不同,其raw数据并没有统一的标准,不像GPS遵守NMEA0184,所以不同IMU器件,其驱动是不同的。但是不要担心,有不少厂商直接提供了ROS驱动,可以到ros wiki查找或者厂家官网查找;如果没有提供,也可以通过对SDK进行ROS封装,得到ROS驱动。 三.microstrain_3dmgx2_imu文件结构 ...
As far as I understand: The "data" topic (from ATTITUDE_MSG) is publishing orientation and angular acceleration. The "data_raw" topic(from HIGHRES_IMU_MSG) is publishing angular and linear acceleration but no orientation. Can we get a si...
raw_imu 通过对原始数据处理得到一个/imu/data_raw数据类型为sensor_msgs/Imu, 通过ROS提供的相关包imu_tools进行滤波 可以看到complementary_filter_gain_node会订阅该topic,即该topic作为输入滤波得到最终数据(发布/imu/datatopic类型同样为sensor_msgs/Imu) ...
100Hz IMU Data from KITTI dataset (2011_09_26_drive_0028) 原始100Hz IMU数据获取 数据集获取地址 (这里选的是road 分类): http://www.cvlibs.net/datasets/kitti/raw_data.php?type=road 100Hz的IMU数据在[unsynced+unrectified data]中,而[synced+rectified data]保存的是修正后的10Hz数据。
➜ ros2 topic info /imu/data_raw Type: sensor_msgs/msg/Imu Publisher count: 1 Subscription count: 0 ➜ ros2 topic info /imu/mag Type: sensor_msgs/msg/MagneticField Publisher count: 1 Subscription count: 0 ➜ ros2 service list ...
In this research, stable and optimal methods for determining the orientation of a moving buoy is presented using a combination of the gyroscope, accelerometers, and magnetic sensors data. In order to prove the effectiveness of the proposed methods, the raw data were collected from accelerometers, ...