Ailibot入门教程-校准-IMU校准

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

相关设备：

• Ailibot套件，采购地址

操作步骤

• [Remote PC] roscore

$ roscore

• [Ailibot] 启动小车

$ roslaunch ailibot_bringup bringup.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!

注：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 bringup.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

• 效果如下：

演示视频