neurali:husky_propriocezione_della_velocita
< husky
IMU
ci interessano gli ultimi 4 valori pubblicati (accelerazione lineare)
/imu/data
rostopic type /imu/data | rosmsg show
oppure
rosmsg show sensor_msgs/Imu
std_msgs/Header header uint32 seq time stamp string frame_id geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w float64[9] orientation_covariance geometry_msgs/Vector3 angular_velocity float64 x float64 y float64 z float64[9] angular_velocity_covariance geometry_msgs/Vector3 linear_acceleration float64 x float64 y float64 z float64[9] linear_acceleration_covariance
--- header: seq: 17369 stamp: secs: 347 nsecs: 720000000 frame_id: base_link orientation: x: -0.00019386683046 y: 0.000252749351539 z: 0.999899824388 w: 0.0141506085329 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.00307167872901 y: -0.00563978081351 z: 0.0845318271515 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.202128519049 y: 0.191206839614 z: 9.80141240778 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17370 stamp: secs: 347 nsecs: 740000000 frame_id: base_link orientation: x: -0.000194271589009 y: 0.000252482076016 z: 0.999914486642 w: 0.0130735578376 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.00982668013753 y: -0.0169715096665 z: 0.105031012103 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.203549142651 y: 0.213473413503 z: 9.80457775657 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17371 stamp: secs: 347 nsecs: 760000000 frame_id: base_link orientation: x: -0.000194604530898 y: 0.000252138758935 z: 0.999930894049 w: 0.0117518373688 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.00945388084675 y: -0.0197383944344 z: 0.126628921113 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.197320867544 y: 0.261597907834 z: 9.8010567611 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17372 stamp: secs: 347 nsecs: 780000000 frame_id: base_link orientation: x: -0.00019515717838 y: 0.000251960005715 z: 0.999948121326 w: 0.0101810159531 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.0132497505466 y: -0.0121943908744 z: 0.159018887188 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.221486480605 y: 0.313867384397 z: 9.80118557671 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17373 stamp: secs: 347 nsecs: 800000000 frame_id: base_link orientation: x: -0.000195608508131 y: 0.000251734987051 z: 0.999965046898 w: 0.00835483984736 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.0117950854139 y: -0.0075917755348 z: 0.172234792502 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.224981123988 y: 0.382976806689 z: 9.81176337273 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17374 stamp: secs: 347 nsecs: 820000000 frame_id: base_link orientation: x: -0.000195830781613 y: 0.00025147407913 z: 0.999980320296 w: 0.00626557513255 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.00365118995487 y: -0.0141271415992 z: 0.202745797506 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.236336339786 y: 0.444796018297 z: 9.81092687902 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17375 stamp: secs: 347 nsecs: 840000000 frame_id: base_link orientation: x: -0.000196015941403 y: 0.000251517189633 z: 0.999992314893 w: 0.00390748913875 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.00661636630189 y: -0.00681886713983 z: 0.233012918259 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.263304144996 y: 0.473795401038 z: 9.81347262933 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17376 stamp: secs: 347 nsecs: 860000000 frame_id: base_link orientation: x: -0.000196677053544 y: 0.000250920881661 z: 0.999999152923 w: 0.00126194729795 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.00667189353604 y: -0.0144839858362 z: 0.269432754066 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.317355299991 y: 0.530340314964 z: 9.80427126385 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17377 stamp: secs: 347 nsecs: 880000000 frame_id: base_link orientation: x: -0.000197317850738 y: 0.000250502683833 z: 0.999998534987 w: -0.00168176643935 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.0200778901734 y: -0.012540139949 z: 0.285770119577 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.298297113489 y: 0.519414264657 z: 9.8057091092 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17378 stamp: secs: 347 nsecs: 900000000 frame_id: base_link orientation: x: -0.000198728413424 y: 0.000249362393022 z: 0.999987852113 w: -0.00491873479764 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.0114549869226 y: -0.00967335477049 z: 0.307907739208 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.253767439909 y: 0.387465624489 z: 9.80393475577 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17379 stamp: secs: 347 nsecs: 920000000 frame_id: base_link orientation: x: -0.000199065321192 y: 0.000248945671316 z: 0.999965577592 w: -0.00829108140156 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.0131667378462 y: -0.00879459481148 z: 0.335363416204 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.358697710514 y: 0.214656833367 z: 9.80981950211 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17380 stamp: secs: 347 nsecs: 940000000 frame_id: base_link orientation: x: -0.000199978126685 y: 0.000248321889132 z: 0.99993115713 w: -0.0117294222433 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.00421672849774 y: -0.0120884722837 z: 0.336229215261 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.349448857291 y: 0.192068340017 z: 9.81966180569 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17381 stamp: secs: 347 nsecs: 960000000 frame_id: base_link orientation: x: -0.000200797128385 y: 0.000247627557588 z: 0.999884547425 w: -0.0151917800495 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.0127645807706 y: -0.0122623426012 z: 0.34580474173 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.212723716977 y: 0.00793043683025 z: 9.7925797268 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17382 stamp: secs: 347 nsecs: 980000000 frame_id: base_link orientation: x: -0.000201685704274 y: 0.000246756671304 z: 0.999826516748 w: -0.0186235023801 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.000804109030132 y: -0.00364647410095 z: 0.340202666495 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.157240829099 y: -0.0317634944104 z: 9.80619014008 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17383 stamp: secs: 348 nsecs: 0 frame_id: base_link orientation: x: -0.000202695141363 y: 0.000246134084073 z: 0.999757825453 w: -0.0220042899802 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.00641867133476 y: -0.0134274953166 z: 0.330505663284 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.138749854854 y: -0.0531947888902 z: 9.81063036512 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17384 stamp: secs: 348 nsecs: 20000000 frame_id: base_link orientation: x: -0.000203600860242 y: 0.000245569625378 z: 0.999679228429 w: -0.0253246617007 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.0118310351362 y: -0.0108802762554 z: 0.319820444915 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.112743851972 y: -0.0616553024557 z: 9.81159536328 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17385 stamp: secs: 348 nsecs: 40000000 frame_id: base_link orientation: x: -0.000204384970566 y: 0.000245064595727 z: 0.999591497779 w: -0.0285785888085 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.0128410998784 y: 3.10454079734e-05 z: 0.325839301838 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.111312312857 y: -0.0550282369319 z: 9.80109720091 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- header: seq: 17386 stamp: secs: 348 nsecs: 60000000 frame_id: base_link orientation: x: -0.000205176237843 y: 0.000244609113211 z: 0.999495418873 w: -0.0317617021235 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.00522891318507 y: -0.013626078415 z: 0.320298006807 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.0969714404363 y: -0.068770935629 z: 9.80319232837 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] --- ^Cheader: seq: 17387 stamp: secs: 348 nsecs: 80000000 frame_id: base_link orientation: x: -0.000205957294118 y: 0.00024390332835 z: 0.99939163831 w: -0.0348747956181 orientation_covariance: [2.603082049146189e-07, 0.0, 0.0, 0.0, 2.603082049146189e-07, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.00818096737062 y: -0.0114378731674 z: 0.302238968314 angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05] linear_acceleration: x: 0.0940982871272 y: -0.0627546753098 z: 9.80919500457 linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05]
neurali/husky_propriocezione_della_velocita.txt · Last modified: 2020/06/08 22:20 by 127.0.0.1