change the contents in /crazyflie/imu topic
Allenhanbo opened this issue · 1 comments
Hi all, I am trying to use topic /crazyflie/imu data to do research. For now, I use the command rostopic echo /crazyflie/imu > out.txt
to extract the imu data into a .txt file that can be used to do the data processing.
A sample look like this:
header:
seq: 10475
stamp:
secs: 1574793141
nsecs: 190792132
frame_id: "crazyflie/base_link"
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
orientation_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: -0.00354151713059
y: 0.00122654718814
z: -0.00303458961858
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:
x: -0.0437945854291
y: 0.159704306759
z: 9.68634776115
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
In this file, it not only have the linear acceleration and angular velocity but also has other data such like linear_acceleration_covariance and orientation. Except for linear acceleration and angular velocity, the other data are not useful for me now. How can I change the source file that can use the topic content only show the linear acceleration and angular velocity?