一、IMU校准
ssh rikirobot@robot.local
1在rikirobot@robot:~/catkin_ws/src/rikirobot_project/rikirobot/launch$目录下执行vim stm32bringup.launch 将z置0
imu/gyroscope_bias: {x: -0.013545, y: 0.056887, z: 0.0 }
2启动roslaunch rikirobot stm32bringup.launch
3查看IMU数据 rostopic echo /imu/data
angular_velocity:
x: 0.0220439946336
y: 0.0171756677871
z: 0.00971218209505
终止所有的运行
4在rikirobot@robot:~/catkin_ws/src/rikirobot_project/rikirobot/launch$目录下执行vim stm32bringup.launch将刚查看的z数据复制到2中的z处。重复1、2、3、4直至到0.00。。。的精度
二、角速度校正(必须在树莓派一端)
1启动roslaunch rikirobot stm32bringup.launch
2运行rosrun rikirobot_nav calibrate_angular.py
3 启动测试在ubuntu新终端运行rosrun rqt_reconfigure rqt_reconfigure
转多了往大调,重复操作直到满意
4终止所有运行,将校准参数添至系统文件vim stm32bringup.launch(在rikirobot@robot:~/catkin_ws/src/rikirobot_project/rikirobot/launch$目录下执行,否则进入的不是一个文件!!!)
<node name="riki_base_node" pkg="rikirobot" type="riki_base_node">
<param name="angular_scale" type="double" value="0.90" />
<param name="linear_scale" type="double" value="1.0" />
5 重复1、2、3看是否转360
三、线速度校正
1启动roslaunch rikirobot stm32bringup.launch
2运行rosrun rikirobot_nav calibrate_linear.py
3 启动测试在ubuntu新终端运行rosrun rqt_reconfigure rqt_reconfigure
转多了往大调?,重复操作直到满意
4终止所有运行,将校准参数添至系统文件vim stm32bringup.launch(在rikirobot@robot:~/catkin_ws/src/rikirobot_project/rikirobot/launch$目录下执行,否则进入的不是一个文件!!!)
<node name="riki_base_node" pkg="rikirobot" type="riki_base_node">
<param name="angular_scale" type="double" value="0.90" />
<param name="linear_scale" type="double" value="1.0" />
5 重复1、2、3看是否走1米