imu_utils標定程序

imu_utils標定程序

1. 安裝

step1：
sudo apt-get install libdw-dev

step2：建立WS文件夾

export TARTGET_WS_DIR=/home/hao/Documents/WKS_Current/camera_imu_calib/imu_utils_workspace
mkdir -p $TARTGET_WS_DIR/src

step3： download

export TARTGET_WS_DIR=/home/hao/Documents/WKS_Current/camera_imu_calib/imu_utils_workspace

# remove the previous files

cd $TARTGET_WS_DIR/src

git clone https://github.com/gaowenliang/code_utils
git clone https://github.com/gaowenliang/imu_utils

 

step4：build
 

export TARTGET_WS_DIR=/home/hao/Documents/WKS_Current/camera_imu_calib/imu_utils_workspace
cd $TARTGET_WS_DIR
catkin_make

運行-----------------------------------------------------------------------------------------------------------------

step1：確保imu正確發佈

#!/bin/bash

#rostopic hz /mavros/imu/data_raw

rostopic echo /mavros/imu/data_raw

step2：錄製rosbag，一般說是最少120分鐘，但是目前imu_utils的源代碼默認你錄製200分鐘，能錄久一點就錄久一點

export TARTGET_PROJECT_DIR=/home/hao/Documents/WKS_Current/camera_imu_calib
export TARTGET_WS_DIR=$TARTGET_PROJECT_DIR/imu_utils_workspace

export IMU_TOPIC=/mavros/imu/data_raw
export BAG_PATH=$TARTGET_PROJECT_DIR/rosbag/imu.bag
rosbag record $IMU_TOPIC -O $BAG_PATH


#rm $BAG_PATH
#rm $USB_BAG_PATH

# record at least 2 hours
rosbag record $IMU_TOPIC -O $BAG_PATH

step3：
修改以下的launch
imu_utils/launch/xsens.launch
將max_time_min修改成你錄製的時間長（分鐘）。不能長於你錄製的時間，否則會一直等待資料。

<launch>
    <node pkg="imu_utils" type="imu_an" name="imu_an" output="screen">
<!--         <param name="imu_topic" type="string" value= "/imu/data"/> -->
        <param name="imu_topic" type="string" value= "/mavros/imu/data_raw"/>
        <param name="imu_name" type="string" value= "xsens"/>
        <param name="data_save_path" type="string" value= "$(find imu_utils)/data/"/>
<!--         <param name="max_time_min" type="int" value= "200"/> -->
        <param name="max_time_min" type="int" value= "150"/>
        <param name="max_cluster" type="int" value= "100"/>
    </node>
</launch>

step4 運行標定程序，運行後會開始等待rosbag的資料

#!/bin/bash


export TARTGET_WS_DIR=/home/hao/Documents/WKS_Current/camera_imu_calib/imu_utils_workspace



source $TARTGET_WS_DIR/devel/setup.bash

#默認imu topic是/imu/data
#如果rosbag裏記錄的不是，就要修改
#imu_utils_workspace/src/imu_utils/launch/xsens.launch

#https://blog.csdn.net/qq_49959714/article/details/129211822
# 此处可能会一直出现wait for imu data
# 这时需要修改xsens_driver.launch文件中的max_time_min的值，这个值改为小于自己的bag持续时间。
roslaunch imu_utils xsens.launch

#尽快执行rosbag play -r 200 test_imu_2020_20xx-xx-xx-xx-xx-xx.bag，
# 程序进入bag读取，并计算allan方差。当bag包加速回放完毕后，执行launch的窗口仍然会显示wait for imu data.，
# 等待一段时间计算，计算完毕后会显示计算结果。

step5 運行rosbag，速度200倍

#!/bin/bash

export TARTGET_PROJECT_DIR=/home/hao/Documents/WKS_Current/camera_imu_calib
export TARTGET_WS_DIR=$TARTGET_PROJECT_DIR/imu_utils_workspace


export NEW_IMU_BAG=$TARTGET_PROJECT_DIR/rosbag/imu_0325_wheeltec.bag
#---------------------------------------------------------------

export IMU_TOPIC=/mavros/imu/data_raw

#export BAG_PATH=$TARTGET_PROJECT_DIR/rosbag/imu_0320_short.bag
#export BAG_PATH=$TARTGET_PROJECT_DIR/rosbag/imu_0320_long.bag

# speed x 200
rosbag play -r 200 $NEW_IMU_BAG

因爲rosbag的播放速度是200倍，運行時間就幾分鐘，如果20分鐘內沒有出結果，大概率是launch文件max_time_min寫的比rosbag的大，導致程序一直在等待資料

step 6 查看結果

#!/bin/bash


export TARTGET_WS_DIR=/home/hao/Documents/WKS_Current/camera_imu_calib/imu_utils_workspace
source $TARTGET_WS_DIR/devel/setup.bash
# imu标定内参参数将保存在imu_utils/data目录下的xsens_imu_param.yaml文件中
cat $TARTGET_WS_DIR/src/imu_utils/data/xsens_imu_param.yaml