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]