sl-controls
dd033b9827
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>
23 lines
736 B
XML
23 lines
736 B
XML
<?xml version="1.0"?>
|
|
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
|
<package format="3">
|
|
<name>saltybot_imu_calibration</name>
|
|
<version>0.1.0</version>
|
|
<description>IMU gyro + accel calibration node for SaltyBot</description>
|
|
<maintainer email="sl-controls@saltylab.local">SaltyLab Controls</maintainer>
|
|
<license>MIT</license>
|
|
|
|
<buildtool_depend>ament_python</buildtool_depend>
|
|
<depend>rclpy</depend>
|
|
<depend>sensor_msgs</depend>
|
|
<depend>std_msgs</depend>
|
|
<depend>geometry_msgs</depend>
|
|
|
|
<test_depend>pytest</test_depend>
|
|
<test_depend>sensor_msgs</test_depend>
|
|
|
|
<export>
|
|
<build_type>ament_python</build_type>
|
|
</export>
|
|
</package>
|