When the robot starts, the Phidget’s IMU starts via a startup script. To check the status of this module, the following steps are to be performed:
Connecting to the robot via Ethernet as described:
ssh -X firstname.lastname@example.org
Next, we can check the status of the Phidget’s IMU via:
sudo service mbs_husky status
If the icon is green, it means that the packages has started without any issues. In the event of an error, you may restart this startup job via:
sudo service mbs_husky restart
To check the linear accelerations and angular velocities:
rostopic echo /IMU/data_raw
This topic does not include orientations. For more information on orientation please refer to the roswiki phidgets_imu .
To check magnetic orientation:
rostopic echo /IMU/mag
More information is available on roswiki phidgets_imu .
To check the orientation on rviz, be sure to use use the IMU visualization plugin.
roslaunch mbs_husky_description description.launch
- Calibration must be done as instructed in the wiki according to the location.
The Phidgets is connected to the