Topic 정리

사용하는 것들만 정리해둔다.

• iahrs IMU
• realsense t265
• ublox gps

---

/iahrs/imu/data

frame_id : “iahrs”

type : sensor_msgs/Imu

• orientation→ x y z w
• type : geometry_msgs/Quaternion
• angular velocity→ x y z
• type : geometry_msgs/Vector3
• linear acceleration→ x y z
• type : geometry_msgs/Vector3

---

/iahrs/imu/mag

frame_id : “iahrs”

type : sensor_msgs/MagneticField

→ x y z

---

/camera/imu

• roslaunch realsense2_camera rs_camera.launch fisheye_fps:=15 depth_fps:=15 infra_fps:=15 color_fps:=15 align_depth:=true unite_imu_method:="linear_interpolation”

이래야 /camera/imu로 publish된다.

frame_id: "camera_imu_optical_frame”

type: sensor_msgs/Imu

Accel x, y, z
Gyro x, y, z

---

/ublox/fix

frame_id : “gps”

type : sensor_msgs/NavSatFix

longitude, latitude

---

reference

How-to: Getting IMU data from D435i and T265

Intel Realsense ROS package

realsense issue /camera/Imu not publishing