#!/usr/bin/envpython#-*-coding:utf-8-*-importrospyimportmathfromsensor_msgs.msgimportImufromgeometry_msgs.msgimportPose,Quaternion,PoseWithCovarianceStamp...

 安装：sudoapt-getinstallros-indigo-kdl-parser-py使用：importPyKDLimportmathdefquat_to_angle(quat):rot=PyKDL.Rotation.Quaternion(quat.x,quat.y,quat.z,quat.w)retu...

 #!/usr/bin/pythonimportPyKDLimportrospyfromsensor_msgs.msgimportImufromnav_msgs.msgimportOdometryfromgeometry_msgs.msgimportTwistfrommathimport*importthre...

 importsysimportmathw=-0.99114048481x=-0.00530699081719y=0.00178255140781z=-0.133612662554r=math.atan2(2*(w*x+y*z),1-2*(x*x+y*y))p=math.asin(2*(w*y-z*z))y=...

1.LIS3DH管脚定义 PS:LIS3DH和mpu6050的X和Y方向是相反的,mpu6050如下图所示:  2.LIS3DH加速度计介绍由于LIS3DH只可以得到XYZ加速度,无法获取角速度,所以LIS3DH是无法测出偏航角(yaw). 3.LIS3DH之转换欧拉角介绍3.1...