Inertial Sensor

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An inertial sensor is now available for the iCub robot (driver written by Radu and Alexis). Watch this space for port information.

When attached to the iCub robot, the port name is:

 /icub/inertial

The output consists in 12 double, organized as follows:

  • euler angles [3]: deg
  • linear acceleration [3]: m/s^2
  • angular speed [3]: deg/s (* see note1)
  • magnetic field [3]: arbitrary units

iCub is currently equipped with an MTX inertial sensor. The manual can be found here.

Note1: please note that the MTX sensor internally measures the angular speed in rad/s. It is the yarp driver that performs the conversion from rad/s to deg/s.