Re: 3D-map is so bad

Posted by Masoumeh on
URL: http://official-rtab-map-forum.206.s1.nabble.com/3D-map-is-so-bad-tp8867p8881.html

sorry mattieu,

now just i have connected to the vehicle(warthog robot), and receive imu data from the vehicle when it is motionless:

---
header:
  seq: 70754
  stamp:
    secs: 1643793793
    nsecs: 917505690
  frame_id: "gx5_link"
orientation:
  x: -0.00222070445307
  y: 0.00700274854898
  z: 0.808141171932
  w: 0.588943004608
orientation_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
angular_velocity:
  x: 0.000555756385438
  y: 0.00148306495976
  z: 0.00340826343745
angular_velocity_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
linear_acceleration:
  x: 0.0506784621673
  y: -0.103927881103
  z: -9.82127460122
linear_acceleration_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]


as you can see, it shows z: -9.8, based on your comments, it should be 0, am i correct???

z in imu frame is up!



Kind Regards