ROS Index
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro kilted. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
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) |
Packages
| Name | Version |
|---|---|
| imu_estimator | 0.0.0 |
README
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
CONTRIBUTING
Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.