- Xsens IMU (Orange)
- This package (tue-get get install ros-sergio_torso_calibration)
- PC for Hardware, IMU driver and TF
- PC with MATLAB
- Run hardware
- (sudo chmod a+rwx /dev/ttyUSB0)
- roslaunch sergio_torso_calibration start.launch
- rostopic echo /sergio/caliphers
- rostopic echo /imu/euler
- 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