/calibrate_imu

utility to calibrate the magnetometer of an imu using ros

Primary LanguagePython

calibrate_imu

This ROS node will read messages published to the /imu/data and /imu/mag topics. For the moment it only performs magnetometer calibration.

To run the node

rosrun calibrate_imu calibrate_imu.py

To start collecting samples from the IMU

rosservice call /start_sampling

To calibrate the magnetometer using the current data samples

rosservice call /calibrate_mag

If you have any questions or comments, please shoot me at email at gamboa at cim dot mcgill dot ca

Limitations

This branch does not save the resulting configuration, it is only printed to the terminal, you will need to perform the adjustment in another node such as the imu_filter_madwick from the imu_tools package.