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Livox-SDK / livox_horizon_loam

Livox horizon porting for loam
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Questions about IMU data in Horizon. #31

Open h-k8888 opened 3 years ago

h-k8888 commented 3 years ago

When the device is stationary, the acceleration data output by IMU in horizon is about (0, 0, 0.98). Is the real acceleration divided by 9.81?? by rostopic echo /livox/imu -0.021400 0.018352 0.994997 and Where to get IMU calibration documents? The acceleration data seems large.

Livox-SDK commented 3 years ago

Hi h-k8888,

If you are using built-in IMU please find calibration parameters under livox_horizon_loam/launch/loam_livox_horizon_imu.launch

h-k8888 commented 3 years ago

Hi h-k8888,

If you are using built-in IMU please find calibration parameters under livox_horizon_loam/launch/loam_livox_horizon_imu.launch

https://github.com/Livox-SDK/livox_horizon_loam/blob/master/launch/loam_livox_horizon_imu.launch sorry, I can't find any information about the built-in imu in the file loam_livox_horizon_imu.launch.

ypLincode commented 3 years ago

Hi h-k8888, If you are using built-in IMU please find calibration parameters under livox_horizon_loam/launch/loam_livox_horizon_imu.launch

https://github.com/Livox-SDK/livox_horizon_loam/blob/master/launch/loam_livox_horizon_imu.launch sorry, I can't find any information about the built-in imu in the file loam_livox_horizon_imu.launch.

so do I

ypLincode commented 3 years ago

Hi, anyone know the unit of the IMU data? has the BIAS of the IMU data been eliminated?

ypLincode commented 3 years ago

hi, when I show the imu data of 2020_parking_lot.bag in rqt_plot, anyone konow is this normal? The linear_acceleration SAWTOOTH WAVE seems too big! 2021-08-05 21-52-12 的屏幕截图