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Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ieiauto/autodrrt.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-09-19 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The ROS 2 imu_corrector package
Additional Links
No additional links.
Maintainers
- Yamato Ando
- Taiki Yamada
- Koji Minoda
Authors
- Yamato Ando
imu_corrector
imu_corrector
imu_corrector_node is a node that correct imu data.
- Correct yaw rate offset $b$ by reading the parameter.
- Correct yaw rate standard deviation $\sigma$ by reading the parameter.
Mathematically, we assume the following equation:
\[\tilde{\omega}(t) = \omega(t) + b(t) + n(t)\]where $\tilde{\omega}$ denotes observed angular velocity, $\omega$ denotes true angular velocity, $b$ denotes an offset, and $n$ denotes a gaussian noise. We also assume that $n\sim\mathcal{N}(0, \sigma^2)$.
Input
| Name | Type | Description |
|---|---|---|
~input |
sensor_msgs::msg::Imu |
raw imu data |
Output
| Name | Type | Description |
|---|---|---|
~output |
sensor_msgs::msg::Imu |
corrected imu data |
Parameters
| Name | Type | Description |
|---|---|---|
angular_velocity_offset_x |
double | roll rate offset in imu_link [rad/s] |
angular_velocity_offset_y |
double | pitch rate offset imu_link [rad/s] |
angular_velocity_offset_z |
double | yaw rate offset imu_link [rad/s] |
angular_velocity_stddev_xx |
double | roll rate standard deviation imu_link [rad/s] |
angular_velocity_stddev_yy |
double | pitch rate standard deviation imu_link [rad/s] |
angular_velocity_stddev_zz |
double | yaw rate standard deviation imu_link [rad/s] |
acceleration_stddev |
double | acceleration standard deviation imu_link [m/s^2] |
gyro_bias_estimator
gyro_bias_validator is a node that validates the bias of the gyroscope. It subscribes to the sensor_msgs::msg::Imu topic and validate if the bias of the gyroscope is within the specified range.
Note that the node calculates bias from the gyroscope data by averaging the data only when the vehicle is stopped.
Input
| Name | Type | Description |
|---|---|---|
~/input/imu_raw |
sensor_msgs::msg::Imu |
raw imu data |
~/input/pose |
geometry_msgs::msg::PoseWithCovarianceStamped |
ndt pose |
Note that the input pose is assumed to be accurate enough. For example when using NDT, we assume that the NDT is appropriately converged.
Currently, it is possible to use methods other than NDT as a pose_source for Autoware, but less accurate methods are not suitable for IMU bias estimation.
In the future, with careful implementation for pose errors, the IMU bias estimated by NDT could potentially be used not only for validation but also for online calibration.
Output
| Name | Type | Description |
|---|---|---|
~/output/gyro_bias |
geometry_msgs::msg::Vector3Stamped |
bias of the gyroscope [rad/s] |
Parameters
| Name | Type | Description |
|---|---|---|
angular_velocity_offset_x |
double | roll rate offset in imu_link [rad/s] |
angular_velocity_offset_y |
double | pitch rate offset imu_link [rad/s] |
angular_velocity_offset_z |
double | yaw rate offset imu_link [rad/s] |
gyro_bias_threshold |
double | threshold of the bias of the gyroscope [rad/s] |
timer_callback_interval_sec |
double | seconds about the timer callback function [sec] |
straight_motion_ang_vel_upper_limit |
double | upper limit of yaw angular velocity, beyond which motion is not considered straight [rad/s] |
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aichallenge_submit_launch |
Launch files
- launch/gyro_bias_estimator.launch.xml
-
- input_imu_raw [default: imu_raw]
- input_odom [default: odom]
- output_gyro_bias [default: gyro_bias]
- gyro_bias_estimator_param_file [default: $(find-pkg-share imu_corrector)/config/gyro_bias_estimator.param.yaml]
- imu_corrector_param_file [default: $(find-pkg-share imu_corrector)/config/imu_corrector.param.yaml]
- launch/imu_corrector.launch.xml
-
- input_topic [default: imu_raw]
- output_topic [default: imu_data]
- param_file [default: $(find-pkg-share imu_corrector)/config/imu_corrector.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged imu_corrector at Robotics Stack Exchange
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