topic Re: Euclid IMU Calibration in Items with no label

Euclid IMU Calibration

BLunc — Wed, 27 Dec 2017 07:46:16 GMT

Is there a procedure for calibrating the IMU on the Euclid? I noticed some yaw drift. I have a diff-drive robot so not too worried about the other axis.

Re: Euclid IMU Calibration

idata — Wed, 27 Dec 2017 19:55:03 GMT

Hello Bruce_lunce,

Thanks for contacting Intel customer support.

In the following link you will find the procedure and the formula used for the IMU Euclid calibration.

https://github.com/intel-ros/realsense/issues/256

Hope this helps to clarify your questions.

Best Regards,

Juan N.

Re: Euclid IMU Calibration

BLunc — Thu, 28 Dec 2017 02:17:20 GMT

From the link you referenced, I was able to view the IMU information by using this command (while camera running):

$> rosservice call /camera/driver/get_imu_info

But unsure how to modify the indicated values. I didn't see any parameters or services that looked like they were for setting them.

I posted on that link for clarification. If you know how to do that, maybe let me know.

Thanks.

Re: Euclid IMU Calibration

BLunc — Mon, 01 Jan 2018 03:33:27 GMT

So I got my answer. The sensor_msgs/Imu data in the published camera IMU topic is un-calibrated. You have to create a node to manually apply the calibration and publish the topic information.

https://github.com/intel-ros/realsense/issues/256 https://github.com/intel-ros/realsense/issues/256

https://github.com/intel-ros/realsense/issues/256