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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

安装IMU驱动:

ARDUINO IDE测试IMU:

  • 启动arduino IDE

  • 打开 "Tools" → "Serial Monitor"

  • 图示:

请输入图片描述

ROS下测试IMU:

  • 启动IMU驱动
$ roslaunch razor_imu_9dof razor-pub.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]

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

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