xsens惯导在ROS下输出汇总

小鱼儿 2023-05-29 02:51 9阅读 0赞

rostopic list

![20191101200052371.png][]

分别记录下每个对应的信息：

rostopic echo /diagnostics

header: 
      seq: 454
      stamp: 
        secs: 1572609754
        nsecs: 307622909
      frame_id: "/imu"
    status: 
      - 
        level: 0
        name: "mtnode: Self Test"
        message: "Ok"
        hardware_id: ''
        values: []
      - 
        level: 0
        name: "mtnode: XKF Valid"
        message: "Valid"
        hardware_id: ''
        values: []
      - 
        level: 1
        name: "mtnode: GPS Fix"
        message: "No fix"
        hardware_id: ''
        values: []
    ---

![2019110220400875.png][]

rostopic echo /imu/data

---
    header: 
      seq: 815
      stamp: 
        secs: 1572609827
        nsecs: 401124954
      frame_id: "/imu"
    orientation: 
      x: -0.0231899413224
      y: -0.00618311236067
      z: -0.812569183978
      w: 0.58237042936
    orientation_covariance: [0.01745, 0.0, 0.0, 0.0, 0.01745, 0.0, 0.0, 0.0, 0.15708]
    angular_velocity: 
      x: 0.00013071297041
      y: -0.0014728007945
      z: -0.00236651273172
    angular_velocity_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004]
    linear_acceleration: 
      x: 0.001121327281
      y: -0.000450849533081
      z: 0.0244325846434
    linear_acceleration_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004]
    ---

rostopic echo /imu/mag

---
    header: 
      seq: 173
      stamp: 
        secs: 1572609955
        nsecs: 532613039
      frame_id: "/imu"
    magnetic_field: 
      x: -0.241854965687
      y: 0.462810277939
      z: -1.06735813618
    magnetic_field_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    ---
    ^Cheader: 
      seq: 174
      stamp: 
        secs: 1572609955
        nsecs: 542536020
      frame_id: "/imu"
    magnetic_field: 
      x: -0.241468593478
      y: 0.462321728468
      z: -1.06932878494
    magnetic_field_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    ---

rostopic echo /imu_data_str

---
    data: "{'Acceleration': {'frame': 'ENU', 'Delta v.z': 0.024481937289237976, 'Delta v.y':\
      \ -0.0004442930221557617, 'Delta v.x': 0.0011044144630432129}, 'Timestamp': {'PacketCounter':\
      \ 45333, 'SampleTimeFine': 118492361}, 'Orientation Data': {'Yaw': 129.50442504882812,\
      \ 'Pitch': -2.6895384788513184, 'frame': 'ENU', 'Roll': -1.170444369316101}, 'Angular\
      \ Velocity': {'Delta q1': 3.160908818244934e-06, 'Delta q0': 1.0000001192092896,\
      \ 'frame': 'ENU', 'Delta q2': -6.094574928283691e-06, 'Delta q3': -4.8782676458358765e-06},\
      \ 'Status': {'StatusWord': 3}}"
    ---

rostopic echo /raw_fix

---
    header: 
      seq: 8
      stamp: 
        secs: 1572610119
        nsecs: 259144067
      frame_id: "/imu"
    status: 
      status: -1
      service: 0
    latitude: -19.8826939
    longitude: 96.4290025
    altitude: 2455.161
    position_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    position_covariance_type: 0
    ---

rostopic echo /time_reference

---
    header: 
      seq: 346
      stamp: 
        secs: 1572610245
        nsecs: 525434970
      frame_id: "/imu"
    time_ref: 
      secs: 11482
      nsecs: 123600000
    source: "sample time fine"
    ---

rostopic echo /velocity

---
    header: 
      seq: 316
      stamp: 
        secs: 1572610308
        nsecs: 412065982
      frame_id: "/imu"
    twist: 
      linear: 
        x: 0.0
        y: 0.0
        z: 0.0
      angular: 
        x: 0.00530014968613
        y: -0.00199427828188
        z: -0.00384216010561
    ---

[20191101200052371.png]: https://img-blog.csdnimg.cn/20191101200052371.png
[2019110220400875.png]: https://img-blog.csdnimg.cn/2019110220400875.png