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turtlebot / turtlebot_create

It keeps iRobot Create specific packages
http://www.ros.org/wiki/turtlebot_create
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question: about imu_data.angular_velocity correction. #34

Open asimay opened 7 years ago

asimay commented 7 years ago

Hi, dear, sorry for stupid question here, I didn't understand the code at here:

https://github.com/turtlebot/turtlebot_create/blob/indigo/create_node/src/create_node/gyro.py#L82

I cannot understand why we divide /self.cal_offset here to do angular velocity correction, shouldn't we use(gyro_measurement_range-self.cal_offset) to divide by here?

I cannot understand the meaning of the formular's denominator. Please instruct me. Thank you very much!

asimay commented 7 years ago

another stupid question: about raw data without correction, code at here: https://github.com/turtlebot/turtlebot_create/blob/indigo/create_node/src/create_node/gyro.py#L91 why we use sensor_state.user_analog_input/self.gyro_measurement_range ? what does it mean? shouldn't we mutiply self.gyro_measurement_range here? Thank you very much for your detail instruction!