사용하는 것들만 정리해둔다. Realsense는 T265 사용

• iahrs IMU
• realsense t265
• ublox gps

/iahrs/imu/data

frame_id : “iahrs”

type : sensor_msgs/Imu

• orientation

  type : geometry_msgs/Quaternion

  → x y z w

• angular velocity

  type : geometry_msgs/Vector3

  → x y z

• linear acceleration

  type : geometry_msgs/Vector3

  → x y z

/iahrs/imu/mag

frame_id : “iahrs”

type : sensor_msgs/MagneticField

→ x y z

/camera/imu

• roslaunch realsense2_camera rs_camera.launch fisheye_fps:=15 depth_fps:=15 infra_fps:=15 color_fps:=15 align_depth:=true unite_imu_method:="linear_interpolation”

이래야 /camera/imu로 publish된다.

frame_id: "camera_imu_optical_frame”