概述
整理一些传感器(MTI Ellipse VLP16 LinkTrack )在ROS下的发布信息的Topic以及msg。方便后面使用。
MTI
启动,使用xsens_mti_node.launch
robots@Robots-ubuntu1604:~/catkin_ws$ roslaunch xsens_mti_driver
display.launch xsens_mti_node.launch
Topic 以及 Msg
imu/data (sensor_msgs/Imu)
quaternion, angular velocity and linear acceleration
imu/acceleration (geometry_msgs/Vector3Stamped)
calibrated linear acceleration
imu/angular_velocity (geometry_msgs/Vector3Stamped)
calibrated angular velocity
imu/mag (geometry_msgs/Vector3Stamped)
calibrated magnetic field
imu/dq (geometry_msgs/QuaternionStamped)
integrated angular velocity from sensor (in quaternion representation)
imu/dv (geometry_msgs/Vector3Stamped)
integrated linear acceleration from sensor
imu/time_ref (sensor_msgs/TimeReference)
timestamp from device
filter/quaternion (geometry_msgs/QuaternionStamped)
quaternion from filter
filter/free_acceleration (geometry_msgs/Vector3Stamped)
linear acceleration from filter
filter/twist (geometry_msgs/TwistStamped)
velocity and angular velocity
filter/positionlla (geometry_msgs/Vector3Stamped) (MTSS2019.3.2 and later)
filtered position output in latitude (x), longitude (y) and altitude (z) as Vector3
filter/velocity (MTSS2019.3.2 and later)
filtered velocity output as Vector3
temperature (sensor_msgs/Temperature)
temperature from device
pressure (sensor_msgs/FluidPressure)
barometric pressure from device
gnss (sensor_msgs/NavSatFix)
raw 4 Hz latitude, longitude, altitude and status data from GNSS receiver
tf (geometry_msgs/TransformStamped)
transformed orientation
robots@Robots-ubuntu1604:~/catkin_ws$ 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
f