I’ve written a package to identify noise in IMU’s.
I’m currently working on a vision based drone and needed a tool to identify IMU noise for use with VIO and filters. I’m using the relatively new microdds_client to interface with PX4. I couldn’t find a package that supported ROS2 or px4_msgs. So I wrote one myself. converting bags and message types are annoying.
- Outputs noise parameters file for Kalibr.
- Supports both
px4_msgs/VehicleImuStatus.msgto interface with PX4-ROS2 bags, No conversion required.
rosbag2_cppAPI to sample data from bag, No playback and waiting for hours.