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

(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

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.


2019-11-16 13:00