Note: This Tutorial is designed for use only with robots purchased before June 2014. The current packages are in ric
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Calibrating the Lizi robot IMUDescription: This tutorial explains how to calibrate the Lizi robot IMU (Inertial Measurement Unit)
Keywords: lizi robot imu calibration
Tutorial Level: BEGINNER
Next Tutorial: Network setup for controlling the Lizi robots from a remote machine
To calibrate the IMU sensor: lizi/imu_calib service is used to enter calibration mode and saving the data. The com field in the service request can range from 1 to 4 as follows:
com=1 – Enter magnetometer calibration mode.
com=2 – Enter accelerometer calibration mode.
com=3 – Save current calibration data.
com=4 – Exit calibration mode.
For example to calibrate the magnetometer of Lizi 1 robot use:
$ rosservice call /lizi_1/imu_calib "com: 1"
After entering calibration mode, move the robot around and then send com=3 request to save the data, followed by a com=4 request, as follows:
$ rosservice call /lizi_1/imu_calib "com: 3" $ rosservice call /lizi_1/imu_calib "com: 4"
If something went wrong, just send com=4 request to discard the data. The calibration data is stored in flash memory and is overwritten every time a new sketch is uploaded.