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fix the imu data publish

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slz
2025-12-25 19:32:03 +08:00
parent 0c491543af
commit df51aa7f2c
1 changed files with 6 additions and 9 deletions
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orbbec_camera/src/ob_lidar_node.cpp
+6 -9
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@@ -599,18 +599,15 @@ void OBLidarNode::onNewIMUFrameCallback(const std::shared_ptr<ob::Frame> &accelf
auto gyro_frame = gryoframe->as<ob::GyroFrame>();
auto gyroData = gyro_frame->getValue();
const double G = 9.81;
const double DEG2RAD = M_PI / 180.0;
imu_msg.angular_velocity.x = -gyroData.x * DEG2RAD;
imu_msg.angular_velocity.y = gyroData.y * DEG2RAD;
imu_msg.angular_velocity.z = -gyroData.z * DEG2RAD;
imu_msg.angular_velocity.x = -gyroData.x;
imu_msg.angular_velocity.y = gyroData.y;
imu_msg.angular_velocity.z = -gyroData.z;
auto accel_frame = accelframe->as<ob::AccelFrame>();
auto accelData = accel_frame->getValue();
imu_msg.linear_acceleration.x = -accelData.x * G;
imu_msg.linear_acceleration.y = accelData.y * G;
imu_msg.linear_acceleration.z = -accelData.z * G;
imu_msg.linear_acceleration.x = -accelData.x;
imu_msg.linear_acceleration.y = accelData.y;
imu_msg.linear_acceleration.z = -accelData.z;
imu_publisher_->publish(imu_msg);
}