Stuck on an issue?

Lightrun Answers was designed to reduce the constant googling that comes with debugging 3rd party libraries. It collects links to all the places you might be looking at while hunting down a tough bug.

And, if you’re still stuck at the end, we’re happy to hop on a call to see how we can help out.

Support IMU

See original GitHub issue

Does ros-bridge have plan to support IMU? Because, some ROS package need IMU data. The carla-simulator has the following API according to the document. So, I think that ros-bridge can handle IMU.

get_acceleration
get_angular_velocity
get_transform

Issue Analytics

State:
Created 4 years ago
Comments:10 (10 by maintainers)

Top GitHub Comments

1reaction

atinfinitycommented, Jul 16, 2019

@fpasch Thank you for your advice.

linear_acceleration

I implemented and visualized linear_acceleration in rviz. Both cases seem to be valid.

move forward

Screenshot from 2019-07-15 21-07-44

sudden braking

Screenshot from 2019-07-15 21-08-30

orientation

I implemented the following code to calculate the orientation of IMU.

rotation = self.carla_actor.get_transform().rotation
imu.orientation = transforms.carla_rotation_to_ros_quaternion(rotation)

And, I tried to check value using rostopic echo. In both cases, vehicle is running on a flat ground. But, I think that the result of Case2 is incorrect. Please give me your comment.

Case1

orientation: 
  x: -1.18190891456e-06
  y: -6.08120009148e-06
  z: 0.00128763802398
  w: 0.999999170975

Case2

orientation: 
  x: 0.000299430007648
  y: -0.000205472390706
  z: 0.999886294096
  w: 0.0150753773212

0reactions

fpaschcommented, Jan 14, 2020

implemented on carla-side and #215

Top Results From Across the Web

Support the IMU: About - Indiana Memorial Union

As we look to the IMU's next 100 years, your support is more important than ever. Support of the Indiana Memorial Union fund...

IMeasureU

User Guide ; Getting Started. New to IMeasureU Step? Get started here! ; IMU Sensor. An introduction to the IMU Sensor. Specs, instructions...

Imu-Max - Ortho Molecular Products

Imu-Max combines echinacea and propolis extracts in a pleasant-tasting liquid formula for immune system support. Imu-Max is a kosher product. 250 ML (8...

IMU (Inertial Measurement Unit) | Technical Support Tools

... IMU (Inertial Measurement Unit); Technical Support Tools | IMU (Inertial Measurement Unit). IMU (Inertial Measurement Unit). Technical Support Tools.

Project Support Program - International Mathematical Union

Under the Project Support Program the CDC supports capacity building projects ... regional or local initiatives in developing countries (IMU definition).