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auviitkgp / kraken_3.0

Source code of Team AUV, IIT Kharagpur
http://auviitkgp.github.io
BSD 3-Clause Clear License
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Sparton IMU #140

Closed nerellasureshkumar7 closed 5 years ago

nerellasureshkumar7 commented 5 years ago

Hi Guys, I have seen that you people are using Sparton IMU for your bot. I have contacted one of your senior who(Atithya Kumar) worked on the AUV, he told me to contact you guys for support. I have some doubts in integrating the Sparton IMU sensor can you please help me out.

icyflame commented 5 years ago

@nerellasureshkumar7 Hi, sure. We use the Sparton IMU through a serial port connection. The code for this uses the serial communication library in Python along with the roslib library to publish this information on a ROS topic.

Is there anything else that you want to know about specifically? Feel free to write your questions in this issue and someone will help you with them. 👍

nerellasureshkumar7 commented 5 years ago

@icyflame Hi, Thanks for your response. I'm using this https://github.com/udmamrl/SpartonCompassIMU repository for getting the IMU values via serial port.

  1. As far i've seen the IMU default go with NED but as per ros standards(REP 103) we need ENU. After i'm converting the values into ENU the Pitch and Roll are inverted.
  2. Can you suggest me the mounting position of IMU on the robot? I placed the IMU horizontal to body frame but the acceleration values (0,0,-9.8) which should be (0,0,9.8). I feel that i'm missing something can you guys help me out.
icyflame commented 5 years ago

@aniket11bh can you help with the placement of the IMU on the robot?

nerellasureshkumar7 commented 5 years ago

@icyflame Hi, could you people help me with Sparton IMU problem.

icyflame commented 5 years ago

@nerellasureshkumar7 Hey, I graduated last year; I was working on AUV a couple years before that. So, my memory about the exact placement is slightly hazy. I will try to get someone else who is actively involved in the group to look at your issue. :slightly_smiling_face: