New in Diamondback

pr2_robot: imu_monitor | pr2_bringup | pr2_camera_synchronizer | pr2_computer_monitor | pr2_controller_configuration | pr2_etherCAT | pr2_run_stop_auto_restart

Package LinksDependencies (4)

Package Summary

This package contains a single node that monitors the drift of the IMU gyroscopes. The results are published to the '/diagnostics' topic and are aggregated in the PR2 dashboard.

Contents

  1. Package Summary
  2. Nodes
    1. imu_monitor.py
      1. Subscribed Topics
      2. Published Topics

Nodes

API below is for information purposes only. imu_monitor is only supported to monitor PR2 imu

imu_monitor.py

The IMU Monitor, imu_monitor.py, monitors the drift on the IMU gyroscopes on the PR2. It detects when the PR2 base is not moving, and then start monitoring the drift of the gyroscopes around the vertical axis.

Subscribed Topics

torso_lift_imu/data (sensor_msgs/Imu)
  • The IMU data (accelerometers, gyroscopes, etc)
base_odometry/odometer (pr2_mechanism_controllers/Odometer)
  • The PR2 base odometry

Published Topics

/diagnostics (diagnostic_msgs/DiagnosticArray)
  • Diagnostics about the status of the IMU drift.

Wiki: imu_monitor (last edited 2011-03-20 01:12:38 by KenConley)

Except where otherwise noted, the ROS wiki is licensed under Creative Commons Attribution 3.0.