ImuPublisher QML Type

Publishes sensor_msgs::msg::Imu messages — This is a message to hold data from an IMU (Inertial Measurement Unit). More...

• List of all members, including inherited members

Properties

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

Methods

• void publish(imu msg)

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.

ImuPublisher publishes imu values to a ROS 2 topic. Set the topic and node properties, then call publish() to send messages.

See also ImuSubscriber and imu.

Property Documentation

angularVelocity : vector3

The angularVelocity field value included in the next publish. Setting this property emits angularVelocityChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

angularVelocityCovariance : list<double>

The angularVelocityCovariance field value included in the next publish. Setting this property emits angularVelocityCovarianceChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

header : header

The header field value included in the next publish. Setting this property emits headerChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

linearAcceleration : vector3

The linearAcceleration field value included in the next publish. Setting this property emits linearAccelerationChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

linearAccelerationCovariance : list<double>

The linearAccelerationCovariance field value included in the next publish. Setting this property emits linearAccelerationCovarianceChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

orientation : quaternion

The orientation field value included in the next publish. Setting this property emits orientationChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

orientationCovariance : list<double>

The orientationCovariance field value included in the next publish. Setting this property emits orientationCovarianceChanged and, when autoPublish is true, requests a publish at the end of the current event-loop iteration.

Method Documentation

void publish(imu msg)

Publishes imu msg to the ROS 2 topic set by the topic property. Does nothing if the publisher is not connected.