ros学习（七）：sensor_msgs 消息类型

一、sensor_msgs/Imu

sensor_msgs/Imu Documentationhttp://docs.ros.org/en/api/sensor_msgs/html/msg/Imu.html

        c++使用时头文件为：

#include <sensor_msgs/Imu.h>

# This is a message to hold data from an IMU (Inertial Measurement Unit)
#这是一条保存来自IMU（惯性测量单元）的数据的消息

# Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec
#加速度应以m/s^2为单位（而不是以g为单位），转速应以rad/sec为单位

# If the covariance of the measurement is known, it should be filled in (if all you know is the  variance of each measurement, e.g. from the datasheet, just put those along the diagonal)
#如果测量值的协方差已知，则应填写（如果您只知道每个测量值的方差，例如，从数据表中，只需沿对角线放置）

# A covariance matrix of all zeros will be interpreted as "covariance unknown", and to use the data a covariance will have to be assumed or gotten from some other source
#所有零的协方差矩阵将被解释为“协方差未知”，为了使用数据，必须假设协方差或从其他来源获得协方差

# If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an orientation  estimate), please set element 0 of the associated covariance matrix to -1
#如果您对其中一个数据元素没有估计值（例如，您的IMU没有生成方向估计值），请将相关协方差矩阵的元素0（首位，标志位）设置为-1
# If you are interpreting this message, please check for a value of -1 in the first element of each covariance matrix, and disregard the associated estimate.
#如果要解释此消息，请在每个协方差矩阵的第一个元素中检查值-1，并忽略相关估计。

Header header

geometry_msgs/Quaternion orientation #姿态、方向
float64[9] orientation_covariance # Row major about x, y, z axes

geometry_msgs/Vector3 angular_velocity  #角速度
float64[9] angular_velocity_covariance # Row major about x, y, z axes

geometry_msgs/Vector3 linear_acceleration #线加速度
float64[9] linear_acceleration_covariance # Row major x, y z 

meng@meng:/media/meng/5418189112144B70/kitti/residential$ rosmsg info sensor_msgs/Imu
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
geometry_msgs/Quaternion orientation
  float64 x
  float64 y
  float64 z
  float64 w
float64[9] orientation_covariance
geometry_msgs/Vector3 angular_velocity
  float64 x
  float64 y
  float64 z
float64[9] angular_velocity_covariance
geometry_msgs/Vector3 linear_acceleration
  float64 x
  float64 y
  float64 z
float64[9] linear_acceleration_covariance

@meng