MTI Ellipse VLP16 LinkTrack Topic msg整理

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 

Imu

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