8.3 IMU

8.3.1 Get IMU Sensor Information Format 1 - Standard Format

Description: Get IMU sensor data including acceleration, angular velocity, pose quaternion and Euler angles. Applicable to all Walker Tienkung series.

• Control method: topic

• Topic name: /imu

• Data definition location: sensor_msgs::msg::Imu

• Data format:

  std_msgs/Header header
  geometry_msgs/Quaternion orientation
  float64[9] orientation_covariance
  geometry_msgs/Vector3 angular_velocity
  float64[9] angular_velocity_covariance
  geometry_msgs/Vector3 linear_acceleration
  float64[9] linear_acceleration_covariance

• Example command:

  # View topic message
  ros2 topic echo /imu

8.3.2 Get IMU Sensor Information Format 2 - Custom Format

Description: Get IMU sensor data including acceleration, angular velocity, pose quaternion, Euler angles and error alarms. Applicable to all Walker Tienkung series.

• Control method: topic

• Topic name: /imu/status

• Data definition location: bodyctrl_msgs::msg::Imu

• Data format:

  std_msgs/Header header
  geometry_msgs/Quaternion orientation
  geometry_msgs/Vector3 angular_velocity     
  geometry_msgs/Vector3 linear_acceleration
  bodyctrl_msgs/Euler euler
  uint32 error
  
  float64[3] angular_velocity_covariance
  float64[3] orientation_covariance
  float64[3] linear_acceleration_covariance

  Error field definitions:

  error = 33072,        Device offline

• Example command:

  # View topic message
  ros2 topic echo /imu/status