# imu_calib
This repository contains a ROS package with tools for computing and applying calibration parameters to IMU measurements.
## Usage
The package contains two nodes. The first computes the accelerometer calibration parameters and saves them to a YAML file, and needs to be run only once. After you have run this node to generate the YAML calibration file, the second node uses that file to apply the calibration to an uncalibrated IMU topic to produce a calibrated IMU topic.
## Nodes
### do_calib
Computes the accelerometer calibration parameters. It should be run directly with a rosrun in a terminal rather than from a launch file, since it requires keyboard input. After receiving the first IMU message, the node will prompt you to hold the IMU in a certain orientation and then press Enter to record measurements. After all 6 orientations are complete, the node will compute the calibration parameters and write them to the specified YAML file.
The underlying algorithm is a least-squares calibration approach based on and similar to that described in STMicroeletronics Application Note [AN4508](http://www.st.com/content/ccc/resource/technical/document/application_note/a0/f0/a0/62/3b/69/47/66/DM00119044.pdf/files/DM00119044.pdf/jcr:content/translations/en.DM00119044.pdf). Due to the nature of the algorithm, obtaining a good calibration requires fairly accurate positioning of the IMU along each of its axes.
#### Topics
##### Subscribed Topics
- `raw_imu` (lino_msgs/Imu) <br>
The raw, uncalibrated IMU measurements
#### Parameters
- `~calib_file` (string, default: "imu_calib.yaml") <br>
The file to which the calibration parameters will be written
- `~measurements` (int, default: 500) <br>
The number of measurements to collect for each orientation
- `~reference_acceleration` (double, default: 9.80665) <br>
The expected acceleration due to gravity
### apply_calib
Applies the accelerometer calibration parameters computed by the do_calib node. Also optionally (enabled by default) computes the gyro biases at startup and subtracts them off.
#### Topics
##### Subscribed Topics
- `raw_imu` (lino_msgs/Imu) <br>
The raw, uncalibrated IMU measurements
##### Published Topics
- `imu/data_raw` (sensor_msgs/Imu) <br>
The corrected, calibrated IMU measurements
#### Parameters
- `~calib_file` (string, default: "imu_calib.yaml") <br>
The file from which to read the calibration parameters
- `~calibrate_gyros` (bool, default: true) <br>
Whether to compute gyro biases at startup and subsequently subtract them off
- `~gyro_calib_samples` (int, default: 100) <br>
The number of measurements to use for computing the gyro biases
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ROS-MULTI-master.zip (230个子文件)
A1 1B
A2 1B
A3 1B
command_multi 1KB
command_multi 981B
CONTAINER1 5B
CONTAINER2 5B
CONTAINER3 5B
accel_calib.cpp 6KB
apply_calib.cpp 5KB
do_calib.cpp 5KB
riki_base.cpp 3KB
do_calib_node.cpp 2KB
apply_calib_node.cpp 2KB
riki_base_node.cpp 177B
accel_calib.h 3KB
do_calib.h 3KB
apply_calib.h 2KB
riki_base.h 706B
xref-pra0911.html 257KB
xref-main.html 257KB
pic.jpg 269KB
1.jpg 260KB
2.jpg 168KB
V0.3.4.jpg 87KB
V0.5.jpg 60KB
map5.jpg 50KB
multi_map.jpg 6KB
multi_map1.jpg 6KB
map_test.jpg 6KB
任务点3.jpg 5KB
3dsensor.launch 3KB
amcl.launch 3KB
astra_laser_pro.launch 3KB
multi_bringup.launch 3KB
navigation.launch 3KB
multi_slam_hector.launch 3KB
bringup.launch 2KB
multi_slam_gmapping.launch 2KB
navigation_multirobot.launch 2KB
hectormapping.launch 1KB
imu.launch 1KB
multi_slam.launch 1KB
fslidar.launch 974B
g4lidar.launch 812B
flashlidar.launch 812B
ydlidar.launch 812B
camera.launch 800B
appcamera.launch 777B
move_base.launch 757B
multi_slam_karto.launch 749B
multi_rplidar.launch 736B
init_pose.launch 682B
map_merge.launch 631B
astra_laser.launch 591B
rplidar.launch 589B
ps3.launch 566B
navigate_multi.launch 552B
slam.launch 527B
astra_navigate.launch 509B
kinect_navigate.launch 507B
robot_pose_ekf.launch 495B
multi_goals.launch 479B
model_robot.launch 431B
precipio_xtion_gmapping.launch 386B
control.launch 384B
navigate.launch 377B
astra_xtion_gmapping.launch 377B
karto_slam.launch 357B
auto_slam.launch 310B
robot.launch 303B
kinect_gmapping.launch 295B
keyboard.launch 274B
hector_slam.launch 246B
lidar_slam.launch 236B
hlds.launch 227B
keyboard.launch 222B
navigation_multi_map.launch 220B
cartographer_slam.launch 163B
rotation_180.launch 162B
navigation_rviz.launch 115B
multi_rviz.launch 109B
lidar_laser.launch 95B
LICENSE 1KB
pra0911.exe.manifest 1KB
main.exe.manifest 1KB
README.md 3KB
README.md 764B
README.md 177B
N1 1B
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N4 1B
map.bag.pbstream 190KB
house.pgm 3.75MB
multi_map1.pgm 144KB
map_test.pgm 144KB
map.pgm 144KB
multi_map.pgm 144KB
map.pgm 32KB
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