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GNSS-IMU Calibration

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1. 测试流程

  1. Windows上用上位机查看数据，确保能获取IMU数据
  2. ROS包安装，录制数据
  3. 校准

2. ROS

Lidar, IMU ROS package

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sudo apt install ros-XXX-serial

Fix the port name for IMU

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echo KERNEL=E"ttyUSB*", ATTRSfldVendor}=="10c4", ATTRStLdProduct)=="ea60",ATTRS(ser1al)=="0003", MODE:="0777", GROUP:="dialout",SYMLINK+="fd1Link_ahrs"' >/etc/udev/rules.d/fdtLink_ahrs.rules

service udey reload

sleep 2

service udev restart