imu QML Value Type

This is a message to hold data from an IMU (Inertial Measurement Unit). More...

Properties

• angularVelocity : vector3
• angularVelocityCovariance : list<double>
• header : header
• linearAcceleration : vector3
• linearAccelerationCovariance : list<double>
• orientation : quaternion
• orientationCovariance : list<double>

Detailed Description

Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec

If the covariance of the measurement is known, it should be filled in (if all you know is the variance of each measurement, e.g. from the datasheet, just put those along the diagonal) A covariance matrix of all zeros will be interpreted as "covariance unknown", and to use the data a covariance will have to be assumed or gotten from some other source

If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an orientation estimate), please set element 0 of the associated covariance matrix to -1 If you are interpreting this message, please check for a value of -1 in the first element of each covariance matrix, and disregard the associated estimate.

imu is a structured value type usable in QML. It maps directly to the sensor_msgs::msg::Imu ROS 2 message type.

Construct a imu in QML by assigning a JavaScript object whose keys are its component properties, or by setting those properties individually.

See also ImuPublisher and ImuSubscriber.

Property Documentation

angularVelocity : vector3

angularVelocityCovariance : list<double>

header : header

linearAcceleration : vector3

linearAccelerationCovariance : list<double>

orientation : quaternion

orientationCovariance : list<double>