消息格式

上ROS官网查看👉ROS

 

 

ROS官网给定的主题，一般我们使用第二个。
 

实现思路

 
（1）mawei@Ubuntu:~/catkin_ws/src$ catkin_create_pkg imu_pkg roscpp rospy sensor_msgs

实现代码👇
 

//imu_node.cpp
#include<ros/ros.h>
#include<sensor_msgs/Imu.h>
#include<tf/tf.h>


void IMUCallback(const sensor_msgs::Imu msg)
{
  if(msg.orientation_covariance[0]<0)//如果第一个元素为0，表示没有意义，直接推出
     return;
//使用tf工具进行四元数转换
tf::Quaternion quaternion(
    msg.orientation.x,
    msg.orientation.y,
    msg.orientation.z,
    msg.orientation.w
);

double  roll, pitch, yam;
tf::Matrix3x3(quaternion).getRPY(roll, pitch, yam);
roll=roll*180/M_PI;
pitch=pitch*180/M_PI;
yam=yam*180/M_PI;
ROS_INFO("滚转=%.0f   仰角=%.0f     朝向=%.0f   ",roll, pitch, yam);

}

int main(int argc, char  *argv[])
{
    /* code */
    setlocale(LC_ALL,"");
    ros::init(argc,argv,"imu_node");
    ros::NodeHandle nh;
    ros::Subscriber sub=nh.subscribe("/imu/data",10, &IMUCallback);
    ros::spin();
    return 0;
}

备注：✨编译规则不要忘了，.txt文件末尾添加👇

---

add_executable(imu_node src/imu_node.cpp)
add_dependencies(imu_node KaTeX parse error: Expected '}', got 'EOF' at end of input: {{PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(imu_node
${catkin_LIBRARIES}
)

---

结果展示