IMU calibration - robotique-udes/zeus_rover GitHub Wiki

IMU Calibration

RTIMULib2 comes with GUI and console based applications to view IMU data and calibrate the accelerometer and magnetometer. In a terminal, type RTIMULib and hit tab twice to see what is available. See this guide for more information on how to calibrate.

The calibration needs to be done whenever there is a change in the IMU's environment, since the magnetometer is very sensitive to magnetic variations.

Ideally, you'll want to use RTIMULibCal, which is uses a command line interface instead of a GUI. That way you can easily do the calibration via SSH.

Important: to avoid an error while doing ellipsoid calibration, you'll want to run RTIMULibCal from the RTEllipsoidFit folder located where you cloned the RTIMULib2 repo. For example:

cd ~/dev/RTIMULib2/RTEllipsoidFit/
RTIMULibCal

The calibration data will also be saved in that folder with the name RTIMULib.ini.

If you are using rtimulib_ros as the driver for the IMU (recommended), you need to move the calibration file into rtimulib_ros/config

If instead you are using i2c_imu, the calibration file will have to be converted to a yaml file that the package will understand. For more information on how to do that, refer to the package's documentation.