msg/Imu Documentation

File: sensor_msgs/msg/Imu.msg

# This is a message to hold data from an IMU (Inertial Measurement Unit)

# Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec

# If the covariance of the measurement is known, it should be filled in (if all you know is the

# variance of each measurement, e.g. from the datasheet, just put those along the diagonal)

# A covariance matrix of all zeros will be interpreted as "covariance unknown", and to use the

# data a covariance will have to be assumed or gotten from some other source

# If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an

# orientation estimate), please set element 0 of the associated covariance matrix to -1

# If you are interpreting this message, please check for a value of -1 in the first element of each

# covariance matrix, and disregard the associated estimate.

std_msgs/Header header

geometry_msgs/Quaternion orientation

#float64[9] orientation_covariance # Row major about x, y, z axes

geometry_msgs/Vector3 angular_velocity

#float64[9] angular_velocity_covariance # Row major about x, y, z axes

geometry_msgs/Vector3 linear_acceleration

#float64[9] linear_acceleration_covariance # Row major x, y z

std_msgs/msg/Header header
geometry_msgs/msg/Quaternion orientation
double[9] orientation_covariance
geometry_msgs/msg/Vector3 angular_velocity
double[9] angular_velocity_covariance
geometry_msgs/msg/Vector3 linear_acceleration
double[9] linear_acceleration_covariance