Hello Everyone,
I’ve written a package to identify sensor noise in IMU’s.
Why ?
I’m currently working on a vision based drone and needed a tool to identify IMU noise for use with VIO and filters. I’m using the relatively new microdds_client to interface with PX4. I couldn’t find a package that supported ROS2 or px4_msgs. So I wrote one myself. converting bags and message types are annoying.
Features
- Outputs noise parameters file for Kalibr.
- Supports both
sensor_msgs/Imu.msg
andpx4_msgs/VehicleImuStatus.msg
to interface with PX4-ROS2 stack, No conversion required. - Uses
rosbag2_cpp
API to sample data from bag, No playback and waiting for hours.