Accelerometers

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The robot hand has a 3-axis accelerometer located inside the cuff, in the same plane as the gripper electrical connection header. The positive z-axis points back 'up' the arm (towards the previous wrist joint, j6). The positive x-axis points towards the direction of gripper, and the y-axis points towards the cuff buttons, using standard Right-Hand-Rule notation.

Component IDs:
right_accelerometer

Data Format:

/robot/accelerometer/<component_id>/state

  • Acceleration values (in m/s^2) are published under linear_acceleration for the x, y, and z axes. The force of gravity is NOT compensated for.
names: ['right_accelerometer']
states: 
  - 
    header: 
      seq: 120921
      stamp: 
        secs: 0
        nsecs: 0
      frame_id: ''
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 0.0
    orientation_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    angular_velocity: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular_velocity_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    linear_acceleration: 
      x: 0.0
      y: 0.0
      z: 0.0
    linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]