Puppy机器狗入门教程-测试-imu测试

Puppy机器狗入门教程-测试-imu测试

说明

• 本教程介绍如何在puppy上测试imu

相关设备

• puppy机器狗套件：采购地址

操作步骤

• [Remote PC] 启动roscore

$ roscore

• [Puppy] 启动imu

$ roslaunch puppy_bringup imu.launch

• [Remote PC] 启动Rviz

$ roslaunch puppy_rviz imu_rviz.launch

• [Remote PC] 查看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]