Turtlebot3新手教程-硬件-OpenCR使用手册

运行serial_node包

rosrun rosserial_python serial_node.py __name:=turtlebot3_core _port:=/dev/ttyACM0 _baud:=115200

 

测试

rostopic echo /imu

 

结果

header:

  seq: 179

  stamp:

    secs: 1486448047

    nsecs: 147523921

  frame_id: imu_link

orientation:

  x: 0.0165222994983

  y: -0.0212152898312

  z: 0.276503056288

  w: 0.960632443428

orientation_covariance: [0.0024999999441206455, 0.0, 0.0, 0.0, 0.0024999999441206455, 0.0, 0.0, 0.0, 0.0024999999441206455]

angular_velocity:

  x: 2.0

  y: 1.0

  z: -1.0

angular_velocity_covariance: [0.019999999552965164, 0.0, 0.0, 0.0, 0.019999999552965164, 0.0, 0.0, 0.0, 0.019999999552965164]

linear_acceleration:

  x: 528.0

  y: 295.0

  z: 16648.0

linear_acceleration_covariance: [0.03999999910593033, 0.0, 0.0, 0.0, 0.03999999910593033, 0.0, 0.0, 0.0, 0.03999999910593033]

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github仓库：

https://github.com/ROBOTIS-GIT/OpenCR

 

详情：

https://github.com/ROBOTIS-GIT/OpenCR/wiki