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Hi all

I'm currently working with hector_slam for creating maps. I have written a package for my imu which offers me a rotation matrix, so that i can calculate roll, pitch and yaw.

My question is: How should i connect them to the hector_slam tf tree?

Roll, pitch to base_stabilized->base_link and Yaw for orientation to base_footprint->base_stabilized?

or can i put them all together to base_stabilized->base_link? Makes it any difference?

Thx for your response


Originally posted by Tirgo on ROS Answers with karma: 66 on 2012-08-30

Post score: 0

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1 Answer 1

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The yaw for base_link and base_stabilized should be the same, it's only the roll and pitch angles that differ between both, as also described in the setup tutorial. You can use the hector_imu_attitude_to_tf node to conveniently publish the base_stabilized->base_link transform using a IMU message. I just added this to the tutorial, too.


Originally posted by Stefan Kohlbrecher with karma: 24361 on 2012-08-31

This answer was ACCEPTED on the original site

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Original comments

Comment by NAGALLA DEEPAK on 2018-02-02:
I have mpu6050 and raspberry pi. I have written a code to publish the yaw, pitch and roll from imu. Now, how can I make hector_imu_attitude_to_tf node get this data? I mean, should I change any lines of code or will it directly subscribe to these values?

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