Marsbot火星车入门教程-测试-IMU测试

Marsbot火星车入门教程-测试-IMU测试

说明：

• 介绍如何测试IMU

相关设备：

• 火星车marsbot套件，采购地址

安装IMU驱动：

• 参考ROS与RACECAR教程-Razor IMU ROS包安装
• 9dof-razor-imu-m0指南
• razor_imu_9dof

ARDUINO IDE测试IMU：

• 启动arduino IDE

• 打开 "Tools" → "Serial Monitor"

• 图示：

ROS下测试IMU：

• 启动IMU驱动

$ roslaunch marsbot_bringup imu.launch

• 查看相关话题

$ rostopic list

• [Remote PC] 读取IMU数据

$ rostopic echo /imu_data

• 数据如下：

---
header: 
  seq: 328
  stamp: 
    secs: 1551260780
    nsecs: 234694957
  frame_id: base_imu_link
orientation: 
  x: 0.00419112380065
  y: -0.0011557932593
  z: -0.435622802123
  w: 0.900118810432
orientation_covariance: [0.0025, 0.0, 0.0, 0.0, 0.0025, 0.0, 0.0, 0.0, 0.0025]
angular_velocity: 
  x: -0.0
  y: -0.0
  z: -0.0
angular_velocity_covariance: [0.02, 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, 0.0, 0.02]
linear_acceleration: 
  x: -0.004979609375
  y: 0.05286046875
  z: 9.95423914062
linear_acceleration_covariance: [0.04, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.04]

演示视频

<iframe height=498 width=100% src="//player.bilibili.com/player.html?isOutside=true&aid=114515387614481&bvid=BV1SFEWzLEvh&cid=29983377175&p=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"></iframe>

参考地址：

• https://github.com/sparkfun/9DOF_Razor_IMU/tree/v30/Firmware/_9DoF_Razor_M0_Firmware
• https://learn.sparkfun.com/tutorials/9dof-razor-imu-m0-hookup-guide
• https://github.com/sparkfun/SparkFun_MPU-9250-DMP_Arduino_Library
• https://github.com/cmaglie/FlashStorage
• https://github.com/lebarsfa/9DOF_Razor_IMU
• https://answers.ros.org/question/261398/sparkfun-9dof-razor-imu-sen-14001/
• https://github.com/KristofRobot/razor_imu_9dof/pull/34