前言
imu_utils是一个用于分析IMU性能的ROS工具包。
参考资料
Allan Variance: Noise Analysis for Gyroscopes
vectornav gyroscope
An introduction to inertial navigation
安装
首先,安装依赖:
sudo apt-get install libdw-dev
作者在README.md中的编译步骤为:
download required code_utils;
put the ROS package imu_utils and code_utils into your workspace, usually named catkin_ws;
cd to your workspace, build with catkin_make;
但是,如果这样操作,会编译出错。查了一下,需要先编译code_utils,然后再编译imu_utils,不能同时编译,应该是依赖问题。
正确的编译步骤:
mkdir -p imu-calibration/src
cd imu-calibration/src
git clone https://github.com/gaowenliang/code_utils.git
cd ..
catkin_make
cd imu-calibration/src
git clone https://github.com/gaowenliang/imu_utils.git
cd ..
catkin_make
可能出现的E