xsens惯导在ROS下输出汇总

rostopic list

分别记录下每个对应的信息：

1.

rostopic echo /diagnostics 

 

header: 
  seq: 454
  stamp: 
    secs: 1572609754
    nsecs: 307622909
  frame_id: "/imu"
status: 
  - 
    level: 0
    name: "mtnode: Self Test"
    message: "Ok"
    hardware_id: ''
    values: []
  - 
    level: 0
    name: "mtnode: XKF Valid"
    message: "Valid"
    hardware_id: ''
    values: []
  - 
    level: 1
    name: "mtnode: GPS Fix"
    message: "No fix"
    hardware_id: ''
    values: []
---

2.

rostopic echo /imu/data 

---
header: 
  seq: 815
  stamp: 
    secs: 1572609827
    nsecs: 401124954
  frame_id: "/imu"
orientation: 
  x: -0.0231899413224
  y: -0.00618311236067
  z: -0.812569183978
  w: 0.58237042936
orientation_covariance: [0.01745, 0.0, 0.0, 0.0, 0.01745, 0.0, 0.0, 0.0, 0.15708]
angular_velocity: 
  x: 0.00013071297041
  y: -0.0014728007945
  z: -0.00236651273172
angular_velocity_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004]
linear_acceleration: 
  x: 0.001121327281
  y: -0.000450849533081
  z: 0.0244325846434
linear_acceleration_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004]
---

3.

rostopic echo /imu/mag 

---
header: 
  seq: 173
  stamp: 
    secs: 1572609955
    nsecs: 532613039
  frame_id: "/imu"
magnetic_field: 
  x: -0.241854965687
  y: 0.462810277939
  z: -1.06735813618
magnetic_field_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
^Cheader: 
  seq: 174
  stamp: 
    secs: 1572609955
    nsecs: 542536020
  frame_id: "/imu"
magnetic_field: 
  x: -0.241468593478
  y: 0.462321728468
  z: -1.06932878494
magnetic_field_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---

4.

rostopic echo /imu_data_str

---
data: "{'Acceleration': {'frame': 'ENU', 'Delta v.z': 0.024481937289237976, 'Delta v.y':\
  \ -0.0004442930221557617, 'Delta v.x': 0.0011044144630432129}, 'Timestamp': {'PacketCounter':\
  \ 45333, 'SampleTimeFine': 118492361}, 'Orientation Data': {'Yaw': 129.50442504882812,\
  \ 'Pitch': -2.6895384788513184, 'frame': 'ENU', 'Roll': -1.170444369316101}, 'Angular\
  \ Velocity': {'Delta q1': 3.160908818244934e-06, 'Delta q0': 1.0000001192092896,\
  \ 'frame': 'ENU', 'Delta q2': -6.094574928283691e-06, 'Delta q3': -4.8782676458358765e-06},\
  \ 'Status': {'StatusWord': 3}}"
---

5.

rostopic echo /raw_fix 

---
header: 
  seq: 8
  stamp: 
    secs: 1572610119
    nsecs: 259144067
  frame_id: "/imu"
status: 
  status: -1
  service: 0
latitude: -19.8826939
longitude: 96.4290025
altitude: 2455.161
position_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
position_covariance_type: 0
---

5.

rostopic echo /time_reference 

---
header: 
  seq: 346
  stamp: 
    secs: 1572610245
    nsecs: 525434970
  frame_id: "/imu"
time_ref: 
  secs: 11482
  nsecs: 123600000
source: "sample time fine"
---

6.

rostopic echo /velocity 

---
header: 
  seq: 316
  stamp: 
    secs: 1572610308
    nsecs: 412065982
  frame_id: "/imu"
twist: 
  linear: 
    x: 0.0
    y: 0.0
    z: 0.0
  angular: 
    x: 0.00530014968613
    y: -0.00199427828188
    z: -0.00384216010561
---