imu

• File: mavros/src/plugins/imu.cpp
• Class: mavros::std_plugins::IMUPlugin
• Namespace: imu
• Brief: IMU and attitude data publication plugin

Publishers

• ~/data (sensor_msgs::msg::Imu)
• ~/data_raw (sensor_msgs::msg::Imu)
• ~/mag (sensor_msgs::msg::MagneticField)
• ~/temperature_imu (sensor_msgs::msg::Temperature)
• ~/temperature_baro (sensor_msgs::msg::Temperature)
• ~/static_pressure (sensor_msgs::msg::FluidPressure)
• ~/diff_pressure (sensor_msgs::msg::FluidPressure)

Subscribers

• None

Services

• None

Clients

• None

Parameters

• frame_id [default: "base_link"] - Additionally, it is reported the orientation of the vehicle to describe the transformation from the ENU frame to the base_link frame (ENU <-> base_link). THIS ORIENTATION IS NOT THE SAME AS THAT REPORTED BY THE FCU (NED <-> aircraft).
• linear_acceleration_stdev [type: double, default: 0.0003]
• angular_velocity_stdev [default: 0.02 * (M_PI / 180.0)]
• orientation_stdev [type: double, default: 1.0]
• magnetic_stdev [type: double, default: 0.0]

MAVLink Subscriptions

• ATTITUDE [handler: handle_attitude, dialect: common, msg_id: 30, id: mavlink::common::msg::ATTITUDE::MSG_ID]
• ATTITUDE_QUATERNION [handler: handle_attitude_quaternion, dialect: common, msg_id: 31, id: mavlink::common::msg::ATTITUDE_QUATERNION::MSG_ID]
• HIGHRES_IMU [handler: handle_highres_imu, dialect: common, msg_id: 105, id: mavlink::common::msg::HIGHRES_IMU::MSG_ID]
• RAW_IMU [handler: handle_raw_imu, dialect: common, msg_id: 27, id: mavlink::common::msg::RAW_IMU::MSG_ID]
• SCALED_IMU [handler: handle_scaled_imu, dialect: common, msg_id: 26, id: mavlink::common::msg::SCALED_IMU::MSG_ID]
• SCALED_PRESSURE [handler: handle_scaled_pressure, dialect: common, msg_id: 29, id: mavlink::common::msg::SCALED_PRESSURE::MSG_ID]

MAVLink Publications

• None