Pose Estimation Sensors
A pose estimation sensor may provide information about the absolute or relative position and orientation of a robot. These sensors include gyroscopes, magnetometers, accelerometers, satellite navigation systems, which are often packaged together as a single hardware device with an internal state estimator providing a fused output.
Contents
Tutorials
Drivers
1. Composite
2. Satellite Navigation Systems
3. IMU
adi_driver: Analog Devices Inc. IMU(ADIS16470) and accelerometer(ADXL345)
- XSens MT
- Witmotion Shenzhen Co. TTL/UART-compatible IMU sensors
Clients
1. Satellite Navigation Systems
2. IMU
API
1. Satellite Navigation Systems
The API for Navigation Satellite position information is in the process of standardization with sensor_msgs/NavSatFix recently approved after community review. For interoperability sensor_msgs/NavSatFix should be considered for new packages.
1.1. Messages
2. IMU
The standard message for inertial measurement units is sensor_msgs/Imu.
If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an orientation estimate), please set element 0 of the associated covariance matrix to -1
If you are interpreting this message, please check for a value of -1 in the first element of each covariance matrix, and disregard the associated estimate.
2.1. Messages
2.2. Services