ImuSubscriber QML Type

Subscribes to 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>
• message : imu
• orientation : quaternion
• orientationCovariance : list<double>

Signals

• messageReceived(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.

ImuSubscriber receives imu values from a ROS 2 topic. Set the topic and node properties, then connect to the messageReceived() signal.

See also ImuPublisher and imu.

Property Documentation

angularVelocity : vector3

The angularVelocity field of the last received message. Updated whenever a new message arrives. angularVelocityChanged is emitted on every update.

angularVelocityCovariance : list<double>

The angularVelocityCovariance field of the last received message. Updated whenever a new message arrives. angularVelocityCovarianceChanged is emitted on every update.

header : header

The header field of the last received message. Updated whenever a new message arrives. headerChanged is emitted on every update.

linearAcceleration : vector3

The linearAcceleration field of the last received message. Updated whenever a new message arrives. linearAccelerationChanged is emitted on every update.

linearAccelerationCovariance : list<double>

The linearAccelerationCovariance field of the last received message. Updated whenever a new message arrives. linearAccelerationCovarianceChanged is emitted on every update.

message : imu

The last message received on topic. Updated whenever a new message arrives.

orientation : quaternion

The orientation field of the last received message. Updated whenever a new message arrives. orientationChanged is emitted on every update.

orientationCovariance : list<double>

The orientationCovariance field of the last received message. Updated whenever a new message arrives. orientationCovarianceChanged is emitted on every update.

Signal Documentation

messageReceived(imu msg)

Emitted when a new imu arrives on topic. msg contains the received value.