Closed h-wata closed 1 year ago
The unit of linear_acceleration in the imu is G, but it should be m/s^2 according to the wiki.
Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec
Change files
Refs #63
Effect Comparison of rostopic echo /livox/imu_XXXXX in bag file converted by lvx_to_rosbag.launch from same lvx file.
rostopic echo /livox/imu_XXXXX
lvx_to_rosbag.launch
Before
--- header: seq: 0 stamp: secs: 1628129261 nsecs: 482877970 frame_id: "livox_frame" orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: -0.021623685956 y: -0.0181506872177 z: -0.0124202724546 angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] linear_acceleration: x: 0.0482514984906 y: -0.00931103434414 z: 0.876538217068 linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] ---
After
--- header: seq: 0 stamp: secs: 1628129299 nsecs: 774994612 frame_id: "livox_frame" orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.0199216287583 y: -0.0415865033865 z: 0.547908842564 angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] linear_acceleration: x: 0.0861642286181 y: 0.872362732887 z: 9.27106189728 linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] ---
Summary
The unit of linear_acceleration in the imu is G, but it should be m/s^2 according to the wiki.
Detail
Change files
Refs #63
Effect Comparison of
rostopic echo /livox/imu_XXXXX
in bag file converted bylvx_to_rosbag.launch
from same lvx file.Before
After