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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