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IMU calibration routine (Issue #278) #282

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sl-jetson merged 1 commits from sl-controls/issue-278-imu-cal into main 2026-03-02 20:43:53 -05:00
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sl-controls commented 2026-03-02 17:35:55 -05:00
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Implements ROS2 IMU gyro + accel calibration node.

Implements ROS2 IMU gyro + accel calibration node.
sl-controls added 1 commit 2026-03-02 17:35:56 -05:00 
Implements ROS2 IMU gyro + accel calibration node with:
- Service-triggered calibration via /saltybot/calibrate_imu
- Optional auto-calibration on startup (configurable)
- Collects N stationary samples (default 100)
- Computes mean bias offsets for gyro and accel
- Publishes bias-corrected IMU on /imu/calibrated
- Includes 10+ unit tests for calibration logic

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 5f3b5caef7 into main 2026-03-02 20:43:53 -05:00
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#282
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