23 lines
1.1 KiB
YAML
23 lines
1.1 KiB
YAML
%YAML:1.0 # need to specify the file type at the top!
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# MTI-100 series converted from data sheet, guess on bias random walk
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# https://www.xsens.com/hubfs/Downloads/usermanual/MTi_usermanual.pdf
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imu0:
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T_i_b:
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- [1.0, 0.0, 0.0, 0.0]
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- [0.0, 1.0, 0.0, 0.0]
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- [0.0, 0.0, 1.0, 0.0]
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- [0.0, 0.0, 0.0, 1.0]
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accelerometer_noise_density: 2.0000e-03 # [ m / s^2 / sqrt(Hz) ] ( accel "white noise" )
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accelerometer_random_walk: 3.0000e-03 # [ m / s^3 / sqrt(Hz) ]. ( accel bias diffusion )
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gyroscope_noise_density: 1.6968e-04 # [ rad / s / sqrt(Hz) ] ( gyro "white noise" )
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gyroscope_random_walk: 1.9393e-05 # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
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# <param name="gyroscope_noise_density" type="double" value="1.7453e-04" /> <!-- 1.7453e-04 -->
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# <param name="gyroscope_random_walk" type="double" value="1.0000e-05" />
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# <param name="accelerometer_noise_density" type="double" value="5.8860e-03" /> <!-- 5.8860e-04 -->
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# <param name="accelerometer_random_walk" type="double" value="1.0000e-04" />
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model: calibrated
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rostopic: /imu/data_raw
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time_offset: 0.0
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update_rate: 500.0 |