[Calibration] Kalibr IMU Calibration

1. Install Kalibr_allen

 

https://github.com/rpng/kalibr_allan

rpng/kalibr_allan

2. Install Matlab

Install Matlab to ubuntu

 

3. Recording rosbag of IMU

 

(1) run your IMU sensor node

 

$ rosrun mw_ahrsv1 mw_agrsv1

 

(2) check topic name

 

$ rostopic list

rostopic list output

(3) check topic hz

$ rostopic hz /imu

rostopic hz /imu

it's recommended the rate is about 200hz,

but my IMU sensor output is 10hz maximum. 

 

(4) record data using rosbag

$ cd ~/catkin_ws/src/kalibr_allan/data/bags
$ rosbag record /imu

record imu data, recommending time is about 4 hours. 

but i did only 5 minutes for breif test.

 

(5) convert .bag file to .mat file 

$ cd ~/catkin_ws/src/kalibr_allan/data/bags
$ rosrun bagconvert bagconvert imu.bag /imu

 

(6) SCRIPT_allan_matparallel.m

excute matlab and run "SCRIPT_allan_matparallel.m".

before running, change update_rate to value gotten from (3) and "mat_path" to where your .mat file exist.

 

(7) SCRIPT_process_result.m

excute matlab and run "SCRIPT_process_result.m".

 

 

 

 

now you can get 4 result data ( i guess there is NaN for gyroscope_random_walk caused by small mount of data)