1、Lay the car flat on the floor and open a terminal with the virtual machine in the data ssh In the past, the main control terminal startedroslaunch znjrobot bringup.launch 。
2、Open another terminal,ssh Past main control terminal,stay
~/catkin_ws/src/znjrobot_project/znjrobot/param/imu Under the pathstart-up imu Correction command.rosrun imu_calib do_calib
3、Press enter to complete the calibration.
Remember: runimuAutomatic correction, must jump to~/catkin_ ws/src/znjrobot_ Run the command under the directory of project / znjrobot / param / IMU;
4、After calibration, test and verifyIMUAre the parameters accurate：
Bringup needs to be restartedFile, let the system reload the calibrated parameters, that is, to close the previously executedroslaunch znjrobot bringup.launchCommand（tips:Ctrl+CYou can turn off the application of the current terminal)；
Open a terminal again and execute the view IMUTopic of command, executionrostoipc echo /imu/dataThe command will appear after calibrationIMUNumerical interface, because we only useIMUSo let’s look at it Whether the indexes of angular velocity are normal or not