IMU data publish configuration used in Autoware #5064
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Currently I am having a IMU with its official ROS2 driver, it publishes Z equals to positive The question in here is that, for autoware default setting/requirement, what is the expected IMU input format? I have tried but failed to find a reference or document talking about this. An example from LIO-SAM indicated the expected IMU data format before passing into the processing node. |
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@TZECHIN6 |
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actually it should be 9.81 which represent true acc value of each axis,
Yes autoware only consider gyro of z to estimate heading