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I'm trying to publish IMU data in ROS vis the IMU message type, but the documentation seems incomplete. What are the units for each field? For example, is angular_velocity in radians or degrees?


Originally posted by Cerin on ROS Answers with karma: 940 on 2016-07-17

Post score: 0

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All messages that contain fields that represent a measurement of a physical quantity (should) always use SI units for those fields. That is certainly true for all core message sets. REP-103 documents this. We can't guarantee that every author of every non-standard / non-core message pkg adhered to this requirement though. The IMU msgs do however.

In the case of sensor_msgs/Imu, it's also stated in the comments in the .msg file itself (second line of the comments in the file that you linked):

Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec

Note also that the orientation field is a quaternion, not a RPYx quartet.


Originally posted by gvdhoorn with karma: 86574 on 2016-07-18

This answer was ACCEPTED on the original site

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