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