neurali:husky_propriocezione_della_velocita
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This shows you the differences between two versions of the page.
neurali:husky_propriocezione_della_velocita [2016/07/09 15:33] – created profpro | neurali:husky_propriocezione_della_velocita [2020/06/08 22:20] (current) – external edit 127.0.0.1 | ||
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+ | < [[neurali: | ||
+ | ======IMU====== | ||
+ | |||
+ | ci interessano gli ultimi 4 valori pubblicati (accelerazione lineare) | ||
+ | |||
+ | /imu/data | ||
+ | |||
+ | rostopic type /imu/data | rosmsg show | ||
+ | oppure | ||
+ | rosmsg show sensor_msgs/ | ||
+ | |||
+ | < | ||
+ | std_msgs/ | ||
+ | uint32 seq | ||
+ | time stamp | ||
+ | string frame_id | ||
+ | geometry_msgs/ | ||
+ | float64 x | ||
+ | float64 y | ||
+ | float64 z | ||
+ | float64 w | ||
+ | float64[9] orientation_covariance | ||
+ | geometry_msgs/ | ||
+ | float64 x | ||
+ | float64 y | ||
+ | float64 z | ||
+ | float64[9] angular_velocity_covariance | ||
+ | geometry_msgs/ | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.00307167872901 | ||
+ | y: -0.00563978081351 | ||
+ | z: 0.0845318271515 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.202128519049 | ||
+ | y: 0.191206839614 | ||
+ | z: 9.80141240778 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.00982668013753 | ||
+ | y: -0.0169715096665 | ||
+ | z: 0.105031012103 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.203549142651 | ||
+ | y: 0.213473413503 | ||
+ | z: 9.80457775657 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.00945388084675 | ||
+ | y: -0.0197383944344 | ||
+ | z: 0.126628921113 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.197320867544 | ||
+ | y: 0.261597907834 | ||
+ | z: 9.8010567611 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.0132497505466 | ||
+ | y: -0.0121943908744 | ||
+ | z: 0.159018887188 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.221486480605 | ||
+ | y: 0.313867384397 | ||
+ | z: 9.80118557671 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.0117950854139 | ||
+ | y: -0.0075917755348 | ||
+ | z: 0.172234792502 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.224981123988 | ||
+ | y: 0.382976806689 | ||
+ | z: 9.81176337273 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.00365118995487 | ||
+ | y: -0.0141271415992 | ||
+ | z: 0.202745797506 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.236336339786 | ||
+ | y: 0.444796018297 | ||
+ | z: 9.81092687902 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.00661636630189 | ||
+ | y: -0.00681886713983 | ||
+ | z: 0.233012918259 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.263304144996 | ||
+ | y: 0.473795401038 | ||
+ | z: 9.81347262933 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.00667189353604 | ||
+ | y: -0.0144839858362 | ||
+ | z: 0.269432754066 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.317355299991 | ||
+ | y: 0.530340314964 | ||
+ | z: 9.80427126385 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.0200778901734 | ||
+ | y: -0.012540139949 | ||
+ | z: 0.285770119577 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.298297113489 | ||
+ | y: 0.519414264657 | ||
+ | z: 9.8057091092 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.0114549869226 | ||
+ | y: -0.00967335477049 | ||
+ | z: 0.307907739208 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.253767439909 | ||
+ | y: 0.387465624489 | ||
+ | z: 9.80393475577 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.0131667378462 | ||
+ | y: -0.00879459481148 | ||
+ | z: 0.335363416204 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.358697710514 | ||
+ | y: 0.214656833367 | ||
+ | z: 9.80981950211 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.00421672849774 | ||
+ | y: -0.0120884722837 | ||
+ | z: 0.336229215261 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.349448857291 | ||
+ | y: 0.192068340017 | ||
+ | z: 9.81966180569 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.0127645807706 | ||
+ | y: -0.0122623426012 | ||
+ | z: 0.34580474173 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.212723716977 | ||
+ | y: 0.00793043683025 | ||
+ | z: 9.7925797268 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.000804109030132 | ||
+ | y: -0.00364647410095 | ||
+ | z: 0.340202666495 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.157240829099 | ||
+ | y: -0.0317634944104 | ||
+ | z: 9.80619014008 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.00641867133476 | ||
+ | y: -0.0134274953166 | ||
+ | z: 0.330505663284 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.138749854854 | ||
+ | y: -0.0531947888902 | ||
+ | z: 9.81063036512 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.0118310351362 | ||
+ | y: -0.0108802762554 | ||
+ | z: 0.319820444915 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.112743851972 | ||
+ | y: -0.0616553024557 | ||
+ | z: 9.81159536328 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.0128410998784 | ||
+ | y: 3.10454079734e-05 | ||
+ | z: 0.325839301838 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.111312312857 | ||
+ | y: -0.0550282369319 | ||
+ | z: 9.80109720091 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | 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: | ||
+ | angular_velocity: | ||
+ | x: 0.00522891318507 | ||
+ | y: -0.013626078415 | ||
+ | z: 0.320298006807 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.0969714404363 | ||
+ | y: -0.068770935629 | ||
+ | z: 9.80319232837 | ||
+ | linear_acceleration_covariance: | ||
+ | --- | ||
+ | ^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: | ||
+ | angular_velocity: | ||
+ | x: 0.00818096737062 | ||
+ | y: -0.0114378731674 | ||
+ | z: 0.302238968314 | ||
+ | angular_velocity_covariance: | ||
+ | linear_acceleration: | ||
+ | x: 0.0940982871272 | ||
+ | y: -0.0627546753098 | ||
+ | z: 9.80919500457 | ||
+ | linear_acceleration_covariance: | ||
+ | |||
+ | </ |
neurali/husky_propriocezione_della_velocita.txt · Last modified: 2020/06/08 22:20 by 127.0.0.1