IMU

The IMU node publishes orientation, angular velocity, and linear acceleration from the onboard NavX sensor.

Configuration

imu:
  enabled: true
  name: "imu"
  topic: "imu"
  frame_id: "imu_link"

Parameters

Parameter	Description
name	Node name
topic	Topic name to publish on
frame_id	TF frame ID included in the message header

Topics

Published

Topic	Type	Description	Rate
/<topic>	sensor_msgs/Imu	Orientation quaternion, angular velocity, linear acceleration	20 Hz

Service

Service name: /<name>/get_imu_data
Type: studica_control/SetData

Command	Description
zero_yaw	Reset the yaw reference to zero at the current heading
(any other string)	Returns current pitch, yaw, and roll as a comma-separated string