Closed erickmu1 closed 4 years ago
To get the magnetic field and declination given your location, use this site: https://www.ngdc.noaa.gov/geomag/calculators/magcalc.shtml#igrfwmm
For Toronto, ON, Canada I got:
Observation: when applying all these location specific magnetic properties, the phidgets imu (1044_1) yaw = 0 orientation seems to be South [assuming that the side with the USB connector is its "backwards"]
*Need to double check whether the 0 or 1 direction (painted on imu) is the imu's forward (currently assuming 1 is forward)
Update: The axes on the phidgets imu (top side) are called Axis-0, Axis-1, and Axis-2. The correspondence b/w phidgets axes and xyz are as follows: Axis-0 == x, Axis-1 == y, Axis-2 == z such that they obey the right hand rule.
Hence, the above magnetic properties ensure that yaw = 0 when Axis-0 (x-axis) points East at Toronto, ON, Canada, which is what robot_localization
requires (satisfying REP-103).
Description:
phidgets_imu
node does not publish orientation, but we can fuse it from the magnetometer usingimu_magwick_filter
Goals:
Acceptance Criteria:
Notes: