IMU、角速度、线速度校正

一、IMU校准

ssh rikirobot@robot.local

1在rikirobot@robot:~/catkin_ws/src/rikirobot_project/rikirobot/launch$目录下执行vim stm32bringup.launch  将z置0

 imu/gyroscope_bias: {x: -0.013545, y: 0.056887, z: 0.0 }

2启动roslaunch rikirobot stm32bringup.launch

3查看IMU数据  rostopic echo /imu/data

angular_velocity:
  x: 0.0220439946336
  y: 0.0171756677871
  z: 0.00971218209505

终止所有的运行

4在rikirobot@robot:~/catkin_ws/src/rikirobot_project/rikirobot/launch$目录下执行vim stm32bringup.launch将刚查看的z数据复制到2中的z处。重复1、2、3、4直至到0.00。。。的精度

 

二、角速度校正(必须在树莓派一端)

1启动roslaunch rikirobot stm32bringup.launch

2运行rosrun rikirobot_nav calibrate_angular.py

3 启动测试在ubuntu新终端运行rosrun rqt_reconfigure rqt_reconfigure

  转多了往大调，重复操作直到满意

4终止所有运行，将校准参数添至系统文件vim stm32bringup.launch（在rikirobot@robot:~/catkin_ws/src/rikirobot_project/rikir