Note: This Tutorial is designed for use only with robots purchased before June 2014. The current packages are in ric

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Calibrating the Lizi robot IMU

Description: This tutorial explains how to calibrate the Lizi robot IMU (Inertial Measurement Unit)

Keywords: lizi robot imu calibration

Tutorial Level: BEGINNER

Next Tutorial: Network setup for controlling the Lizi robots from a remote machine

To calibrate the IMU sensor: lizi/imu_calib service is used to enter calibration mode and saving the data. The com field in the service request can range from 1 to 4 as follows:

com=1 – Enter magnetometer calibration mode.

com=2 – Enter accelerometer calibration mode.

com=3 – Save current calibration data.

com=4 – Exit calibration mode.

For example to calibrate the magnetometer of Lizi 1 robot use:

$ rosservice call /lizi_1/imu_calib "com: 1"

After entering calibration mode, move the robot around and then send com=3 request to save the data, followed by a com=4 request, as follows:

$ rosservice call /lizi_1/imu_calib "com: 3"
$ rosservice call /lizi_1/imu_calib "com: 4"

If something went wrong, just send com=4 request to discard the data. The calibration data is stored in flash memory and is overwritten every time a new sketch is uploaded.

Wiki: lizi_robot/Tutorials/Calibrating the Lizi robot IMU (last edited 2014-07-02 05:32:26 by yamgeva)