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Ailibot入门教程-校准-IMU校准

说明:

  • 介绍如何在Ailibot上校准imu

  • Ailibot默认使用GY-85九轴陀螺仪

操作步骤

  • [Remote PC] roscore
$ roscore
  • [Ailibot] 启动小车
$ roslaunch ailibot_bringup minimal.launch
  • [Ailibot] 开始校准imu,最终生成的配置文件默认保存在包ailibot_bringup/param/imu/文件夹里
$ roslaunch ailibot_calib calibrate_imu.launch
......   
Orient IMU with X+ axis - Front side of the robot facing up. Press [ENTER] once done.
Calibrating! This may take a while....
 Done.
Orient IMU with X- axis - Rear side of the robot facing up. Press [ENTER] once done.
Calibrating! This may take a while....
 Done.
Orient IMU with Y+ axis - Left side of the robot facing up. Press [ENTER] once done.
Calibrating! This may take a while....
 Done.
Orient IMU with Y- axis - Right side of the robot facing up. Press [ENTER] once done.
Calibrating! This may take a while....
 Done.
Orient IMU with Z+ axis - Top side of the robot facing up. Press [ENTER] once done.
Calibrating! This may take a while....
 Done.
Orient IMU with Z- axis - Bottom side of the robot facing up. Press [ENTER] once done.
Calibrating! This may take a while....
 Done.
Computing calibration parameters... Success!
Saving calibration file... Success!

:校准时需要根据终端上的提示来翻转小车;比如校准Y+方向的时候,将小车的左面朝上,z-方向就是底面朝上,等等,照此类推

  • [Ailibot] 查看文件日期,检查是否生成新的imu_calib.yaml配置文件
$ ll ~/ailibot_ws/src/ailibot/ailibot_bringup/param/imu/
  • [Ailibot] 中止minimal.launch启动程序后再重新启动小车
$ roslaunch ailibot_bringup minimal.launch
  • [Remote PC] 打开rviz查看imu数据
$ roslaunch ailibot_rviz view_imu.launch
  • 正常情况下,imu数据较为稳定,不会有大幅度偏移

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