sensor_msgs::msg::Imu Class Reference

ROS message class definition for Imu. More...

#include <sensor_msgs/msg/imu.hpp>

Collaboration diagram for sensor_msgs::msg::Imu:

Public Attributes
std_msgs::msg::Header	header
geometry_msgs::msg::Quaternion	orientation
std::array< double, 9 >	orientation_covariance
	Row major about x, y, z axes.
geometry_msgs::msg::Vector3	angular_velocity
std::array< double, 9 >	angular_velocity_covariance
	Row major about x, y, z axes.
geometry_msgs::msg::Vector3	linear_acceleration
std::array< double, 9 >	linear_acceleration_covariance
	Row major x, y z.

Detailed Description

ROS message class definition for Imu.

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

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.

# This is a message to hold data from an IMU (Inertial Measurement Unit)
#
# 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.
 
std_msgs/Header header
 
geometry_msgs/Quaternion orientation
float64[9] orientation_covariance # Row major about x, y, z axes
 
geometry_msgs/Vector3 angular_velocity
float64[9] angular_velocity_covariance # Row major about x, y, z axes
 
geometry_msgs/Vector3 linear_acceleration
float64[9] linear_acceleration_covariance # Row major x, y z

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The documentation for this class was generated from the following file:

• sensor_msgs/msg/imu.hpp