Torso calibration of SERGIO

Needed hardware/software

• Xsens IMU (Orange)
• This package (tue-get get install ros-sergio_torso_calibration)
• PC for Hardware, IMU driver and TF
• PC with MATLAB

Calibration

1. Run hardware
2. (sudo chmod a+rwx /dev/ttyUSB0)
3. roslaunch sergio_torso_calibration start.launch
4. rostopic echo /sergio/caliphers
5. rostopic echo /imu/euler
6. In MATLAB run matlab/calibration_torso.m. The script shows what to do.
   • Change the parameters in sergio_bringup and sergio_hardware in both 'torso_controller_ffw.ops' and 'torso_joint_publisher.ops'

Calibration is not working correct: Matthijs 01-05-2017