I have an external IMU and want to publish it to ros as a replacement for the current imu on turtlebot2.
I am just wondering on how the calculations are made for these two functions or rather on "Inertial Sensor Data" from kobuki protocol specifications.
btw, i have both acceleration and gyro datas. i just need the formula for the Angle and Angle Rate.
https://github.com/yujinrobot/kobuki_core/blob/e5313dfb9c9bbb5c982f0cc5627f8d390b025187/kobuki_driver/src/driver/kobuki.cpp#L415
https://github.com/yujinrobot/kobuki_core/blob/e5313dfb9c9bbb5c982f0cc5627f8d390b025187/kobuki_driver/src/driver/kobuki.cpp#L423
I have an external IMU and want to publish it to ros as a replacement for the current imu on turtlebot2. I am just wondering on how the calculations are made for these two functions or rather on "Inertial Sensor Data" from kobuki protocol specifications.
btw, i have both acceleration and gyro datas. i just need the formula for the Angle and Angle Rate.