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IMU Sensor Broadcaster
Broadcaster of messages from IMU sensor.
The published message type is sensor_msgs/msg/Imu.
The controller is a wrapper around IMUSensor semantic component (see controller_interface package).
Parameters
This controller uses the generate_parameter_library to handle its parameters. The parameter definition file located in the src folder contains descriptions for all the parameters used by the controller.
List of parameters
- sensor_name (string)
Defines sensor name used as prefix for its interfaces. Interface names are:
<sensor_name>/orientation.x, ..., <sensor_name>/angular_velocity.x, ..., <sensor_name>/linear_acceleration.x.Default: “”
Constraints:
parameter is not empty
- frame_id (string)
Sensor’s frame_id in which values are published.
Default: “”
Constraints:
parameter is not empty
- static_covariance_orientation (double_array)
Static orientation covariance. Row major about x, y, z axes
Default: {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}
Constraints:
length must be equal to 9
- static_covariance_angular_velocity (double_array)
Static angular velocity covariance. Row major about x, y, z axes
Default: {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}
Constraints:
length must be equal to 9
- static_covariance_linear_acceleration (double_array)
Static linear acceleration covariance. Row major about x, y, z axes
Default: {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}
Constraints:
length must be equal to 9
An example parameter file
An example parameter file for this controller can be found in the test directory:
test_imu_sensor_broadcaster:
ros__parameters:
sensor_name: "imu_sensor"
frame_id: "imu_sensor_frame"