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imu_estimator package from imu_estimator repoimu_estimator |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | attitude estimator with gyro bias correction |
| Checkout URI | https://github.com/rsasaki0109/imu_estimator.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-11-29 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | imu ekf bias-correction |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- sasaki
Authors
No additional authors.
imu_estimator
a header-file program of attitude estimator by using 6-axis imu with gyro bias correction
how to use
#include <imu_estimator/ekf.hpp>
EKFEstimator ekf;
ekf.setProcessNoize(0.033); // [(rad/sec)^2]
ekf.setObservationNoize(0.033);// [(m/sec^2)^2]
// input
dt = 0.1; // [sec]
Eigen::Vector3d gyro{0, 0, 0};
Eigen::Vector3d acc{0, 0, 0};
// output
Eigen::Quaternion<double> quat;
ekf.filterOneStep(quat, dt, acc, gyro);
ros2 example
- input
/imu/data (sensor_msgs/Imu)(gyro and acc)
- how to run
ros2 run imu_estimator imu_estimator
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
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| rclcpp_components | |
| sensor_msgs | |
| tf2_ros | |
| tf2_sensor_msgs | |
| tf2_eigen | |
| tf2 | |
| tf2_geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged imu_estimator at Robotics Stack Exchange
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