1.imu单独标定:Allen方差标定曲线
(1)用港科大的imu_utils工具标定https://github.com/gaowenliang/imu_utils
注意要先编译code_utils包,再编译imu_utils包。碰到问题一般issue里有。
编译报错
code_utils-master/src/sumpixel_test.cpp:2:24: fatal error: backward.hpp:No such file or directory
在code_utils下面找到sumpixel_test.cpp,修改#include "backward.hpp"为 #include “code_utils/backward.hpp”,再编译。
(2)imu静止放置录2h的bag包
rosbag record -O imu.bag /mynteye/imu/data_raw
(3)标定
source ./devel/setup.bash
roslaunch imu_utils mynteye_imu.launch
rosbag play -r 200 imu.bag (这里要写你录制的包的路径)
mynteye_imu.launch的编写参考
<launch>
<node pkg="imu_utils" type="imu_an" name="imu_an" output="screen"&