IMU transforms

IMU data is published with reference to the imu_frame_name (defaults to imu_link), which lies inside the VPU. Additional used frames are the base_frame_name (defaults to imu_base_link) which should be named identical for all nodes related to the same VPU, and the mounting_frame_name (defaults to vpu_mounting_link) which represents the mounting position of the VPU.

Publication of base to mounting transforms and mounting to sensor transforms as well as the three frame names can be configured, see IMU Parameters for details.

Publishing the tf from the robot’s "base_link" to the base_frame_name (defaults to imu_base_link) should be done by the user.

Additional information

For more information about the IMU built into the VPU, refer to the ifm IMU documentation.

For more information about the IMU reference point and its location inside the VPU, refer to the OVP calibration documentation.