IMU calibration routine (Issue #278) #282

Merged

sl-jetson merged 1 commits from sl-controls/issue-278-imu-cal into main

2026-03-02 20:43:53 -05:00

Author	SHA1	Message	Date
sl-controls	dd033b9827	feat(controls): IMU calibration routine (Issue #278 ) 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>	2026-03-02 17:35:30 -05:00

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SHA1

Message

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sl-controls

dd033b9827

feat(controls): IMU calibration routine (Issue #278 )

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>

2026-03-02 17:35:30 -05:00

IMU calibration routine (Issue #278) #282

1 Commits