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imu_corrector#

Purpose#

imu_corrector_node is a node that correct imu data.

  1. Correct yaw rate offset by reading the parameter.
  2. Correct yaw rate standard deviation by reading the parameter.

Use the value estimated by deviation_estimator as the parameters for this node.

Inputs / Outputs#

Input#

Name Type Description
~input sensor_msgs::msg::Imu raw imu data

Output#

Name Type Description
~output sensor_msgs::msg::Imu corrected imu data

Parameters#

Core Parameters#

Name Type Description
angular_velocity_offset_z double yaw rate offset [rad/s]
angular_velocity_stddev_zz double yaw rate standard deviation [rad/s]