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Recalibrate the chassis IMU


  • administrators

    Sorry: This tutorial is for users who purchased after September 2016

    Applicable situation:

    Before shipment, each chassis IMU has been calibrated, and theoretically normal use does not require recalibration. If after a long period of use of the chassis, it is found that the odom angle at the output of the chassis begins to have a serious flow, follow the steps below to recalibrate the chassis IMU.

    Steps:

    1. Place the chassis horizontally stationary, the following calibration process can not move or hit the chassis.

    2. In the local virtual machine ssh login, enter the following command.

    ssh xiaoqiang@192.168.0.xxx   -X
    rostopic echo /imu_cal
    
    1. Open a new window in the local virtual machine and login to the host again. Enter the following command:
    ssh xiaoqiang@192.168.0.xxx   -X
    rostopic pub /imu_cal std_msgs/Bool '{data: true}' -1
    
    1. Wait 10 seconds. When the window in step 1 shows the following figure, it indicates that the calibration procedure has been started. Please terminate the topic issue command in step 2.

    0_1537583834355_84a879a9-6b30-4fae-92db-d858df906c05-image.png

    1. Wait 2 minutes, IMU re-calibration is completed, now you can continue normal use without restart.