What is the unit of acceleration in the internal IMU of the horizon?

Livox-SDK / livox_ros_driver

Livox device driver under ros, support Lidar Mid-40, Mid-70, Tele-15, Horizon, Avia.

Other

365 stars 203 forks source link

What is the unit of acceleration in the internal IMU of the horizon? #63

Closed kamibukuro5656 closed 3 years ago

kamibukuro5656 commented 3 years ago

Hello

What are the units of the internal IMU in Horizon? The output value is too small for m/s^2. It's probably scaled to 10 or something close to that, is that correct?

Livox-SDK commented 3 years ago

Sorry，the unit is g.

kamibukuro5656 commented 3 years ago

Thank you. I understand.

flymaxty commented 3 years ago

Hi @Livox-SDK , According to the wiki, it should be m^2/s in ROS message. g is not a standard unit in ROS

http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/Imu.html

Could you please fix it?