Euclid IMU Calibration

[BLunc]

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.

[idata]

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/256Hope this helps to clarify your questions. Best Regards, Juan N.

[BLunc]

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.

[BLunc]

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