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.

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