What is "IMU Cal" and how is it used? #250
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The Create3 ROS2 action goal /dock includes: What is "IMU Cal" and how is it used by the Create3? Version G.3.1 |
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Replies: 2 comments 2 replies
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As with the previous log message, this is an internal message intended for developers. The robot performs calibration of its IMU (inertial measurement unit -- composed of the gyro and accelerometer sensors plus some software) when it is at rest. The IMU's accuracy is important for the robot's dead reckoning system. |
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"intended for developers" - no problem. Thank you for your explanation. I remember reading about an API for saving off an IMU calibration (in the docs for the IMU of my prior robot). I believe it was available to use prior to and after putting the IMU into a low power "sleep" mode. Always looking to have a mental model of "how my robot thinks". |
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I appreciate that -- the desire to fully understand the behaviors behind the behaviors. We tried to strike a balance between what was exposed and what was automatically taken care of, with a bias toward exposition in the logs (cryptic as it may be ;-) ), even if the user has no control of when the robot decides to do the automatic thing (for example, IMU calibration). I don't have details on, in particular, when the robot decides it's appropriate to perform this calibration, but the log will contain messages like this when it does. |
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closing - answered |
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As with the previous log message, this is an internal message intended for developers. The robot performs calibration of its IMU (inertial measurement unit -- composed of the gyro and accelerometer sensors plus some software) when it is at rest. The IMU's accuracy is important for the robot's dead reckoning system.