On Wed, Nov 14, 2012 at 2:39 PM, Ivan Dryanovski <span dir="ltr">&lt;<a href="mailto:ivan.dryanovski@gmail.com" target="_blank">ivan.dryanovski@gmail.com</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
<div>Are there established conventions about the frame_id of imu messages, and the IMU pipeline of filters/publishers?</div></blockquote><div><br></div><div>The problem becomes even worse when we consider that the Imu message [1] combines orientation data with linear acc. and angular velocities. The linear acceleration and angular velocities are usually provided in the sensor&#39;s own frame, but the orientation only makes sense in a fixed frame. <br>
</div><div><br></div><div>[1] <a href="http://www.ros.org/doc/api/sensor_msgs/html/msg/Imu.html">http://www.ros.org/doc/api/sensor_msgs/html/msg/Imu.html</a></div>