Adding an IMU to BebopS - gsilano/BebopS GitHub Wiki
Adding a IMU to BebopS
Namespace and parent link
namespace -> drone name parent_link --> ${namespace}/base_link
To choose the IMU parameters see the ROS package Kalibr. Compared to the RotorS IMU plugin, the measurment_delay
and measurement_divisor
entries have been added. These values allow you to enter a unit delay while generating data and to set a frequency response of the sensors.
Using the IMU Macro
Defined in component_snippets.xacro
<xacro:macro name="crazyflie2_imu" params="namespace parent_link">
<!-- Mount an MPU-9250 IMU. -->
<xacro:imu_plugin_macro
namespace="${namespace}"
imu_suffix=""
parent_link="${parent_link}"
imu_topic="imu"
measurement_delay="0"
measurement_divisor="1"
mass_imu_sensor="0.00001"
gyroscope_noise_density="0.000175"
gyroscope_random_walk="0.0105"
gyroscope_bias_correlation_time="1000.0"
gyroscope_turn_on_bias_sigma= "0.09"
accelerometer_noise_density="0.003"
accelerometer_random_walk="0.18"
accelerometer_bias_correlation_time="300.0"
accelerometer_turn_on_bias_sigma="0.588">
<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:imu_plugin_macro>
</xacro:macro>