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Fix units output by IMU to comply with sensor_msgs/Imu format #14

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Fix units output by IMU to comply with sensor_msgs/Imu format #14

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14 changes: 8 additions & 6 deletions nodes/bosch_imu_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -191,7 +191,8 @@ def write_to_dev(ser, reg_addr, length, data):
if not(write_to_dev(ser, SYS_TRIGGER, 1, 0x00)):
rospy.logerr("Unable to start IMU.")

if not(write_to_dev(ser, UNIT_SEL, 1, 0x83)):
# acc: ms^-2, ang: rad/s, euler: rad, temp: C
if not(write_to_dev(ser, UNIT_SEL, 1, 0x86)):
rospy.logerr("Unable to set IMU units.")

if not(write_to_dev(ser, AXIS_MAP_CONFIG, 1, axis_remap_config)):
Expand All @@ -208,9 +209,10 @@ def write_to_dev(ser, reg_addr, length, data):
rate = rospy.Rate(frequency)

# Factors for unit conversions
acc_fact = 1000.0
acc_fact = 100.0 # 1ms^-2 = 100 LSB
mag_fact = 16.0
gyr_fact = 900.0
quat_fact = 16384
seq = 0

while not rospy.is_shutdown():
Expand All @@ -235,10 +237,10 @@ def write_to_dev(ser, reg_addr, length, data):
imu_data.header.stamp = rospy.Time.now()
imu_data.header.frame_id = frame_id
imu_data.header.seq = seq
imu_data.orientation.w = float(st.unpack('h', st.pack('BB', buf[24], buf[25]))[0])
imu_data.orientation.x = float(st.unpack('h', st.pack('BB', buf[26], buf[27]))[0])
imu_data.orientation.y = float(st.unpack('h', st.pack('BB', buf[28], buf[29]))[0])
imu_data.orientation.z = float(st.unpack('h', st.pack('BB', buf[30], buf[31]))[0])
imu_data.orientation.w = float(st.unpack('h', st.pack('BB', buf[24], buf[25]))[0]) / quat_fact
imu_data.orientation.x = float(st.unpack('h', st.pack('BB', buf[26], buf[27]))[0]) / quat_fact
imu_data.orientation.y = float(st.unpack('h', st.pack('BB', buf[28], buf[29]))[0]) / quat_fact
imu_data.orientation.z = float(st.unpack('h', st.pack('BB', buf[30], buf[31]))[0]) / quat_fact
imu_data.linear_acceleration.x = float(st.unpack('h', st.pack('BB', buf[32], buf[33]))[0]) / acc_fact
imu_data.linear_acceleration.y = float(st.unpack('h', st.pack('BB', buf[34], buf[35]))[0]) / acc_fact
imu_data.linear_acceleration.z = float(st.unpack('h', st.pack('BB', buf[36], buf[37]))[0]) / acc_fact
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