fix: calibrate imu offset (#44)

* feat: calibrate imu offset Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Aug 30, 2023 · bfc7e15 · bfc7e15
1 parent 9b8b406
commit bfc7e15
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/individual_params/config/default/sample_sensor_kit/imu_corrector.param.yaml b/individual_params/config/default/sample_sensor_kit/imu_corrector.param.yaml
@@ -1,8 +1,8 @@
 /**:
   ros__parameters:
-    angular_velocity_offset_x: 0.0    # [rad/s]
-    angular_velocity_offset_y: 0.0    # [rad/s]
-    angular_velocity_offset_z: 0.0    # [rad/s]
-    angular_velocity_stddev_xx: 0.03  # [rad/s]
-    angular_velocity_stddev_yy: 0.03  # [rad/s]
-    angular_velocity_stddev_zz: 0.03  # [rad/s]
+    angular_velocity_stddev_xx: 0.00339
+    angular_velocity_stddev_yy: 0.00339
+    angular_velocity_stddev_zz: 0.00339
+    angular_velocity_offset_x: -0.005799
+    angular_velocity_offset_y: -0.007148
+    angular_velocity_offset_z: -0.001499