i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-07 13:37:44 +08:00
Code Issues Packages Projects Releases Wiki Activity

Refactor: Unify accelerometer and gyroscope into single IMU control

Browse Source 
- Replace separate accel/gyro parameters with unified IMU parameters
- Consolidate topics from separate streams to single /lidar/imu/sample
- Simplify launch file configuration with single enable_imu flag
- Update documentation and extrinsics to reflect unified structure
This commit is contained in:
xiexun
2025-08-05 21:51:06 +08:00
parent af8606729f
commit 9d4e270e9b
6 changed files with 175 additions and 246 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/launch_parameters.md
+6 -17
View File
@@ -89,26 +89,15 @@ The following are the launch parameters available:
* **ir_ae_max_exposure**
* Set the maximum exposure value for IR auto exposure
* **ir_brightness**
* Set the IR brightness
* **enable_sync_output_accel_gyro**
* Enable the sync accel_gyro,and output IMU topic real-time data
* **enable_accel**
* Enable the Accelerometer,and output Accelerometer info topic data
* **enable_accel_data_correction**
* Enable the Accelerometer data correction
* **accel_rate**
* The frequency of the accelerometer, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`
* Set the IR brightness
* **enable_imu**
* Enable the IMU (both accelerometer and gyroscope), and output IMU topic with synchronized data
* **imu_rate**
* The frequency of the IMU, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`. The specific value depends on the current camera
* **accel_range**
* The range of the accelerometer, the optional values are `2g`, `4g`, `8g`, `16g`. The specific value depends on the current camera
* **enable_gyro**
* Enable the gyroscope,and output gyroscope info topic data
* **enable_gyro_data_correction**
* Enable the gyroscope data correction
* **gyro_rate**
* The frequency of the gyroscope, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`.The specific value depends on the current camera
* **gyro_range**
* The range of the gyroscope, the optional values are `16dps`, `31dps`, `62dps`, `125dps`, `250dps`, `500dps`, `1000dps`, `2000dps`. The specific value depends on the
current camera
* The range of the gyroscope, the optional values are `16dps`, `31dps`, `62dps`, `125dps`, `250dps`, `500dps`, `1000dps`, `2000dps`. The specific value depends on the current camera
* **liner_accel_cov**
* Covariance of the linear acceleration
* **angular_vel_cov**