imu蓝牙mac_address修改

在imu_blue.py中修改每个imu的mac_address

mac_address可以在上位机软件查询

imu_buffer内容

imu.linear_acceleration.x = imu_data[0]
imu.linear_acceleration.y = imu_data[1]
imu.linear_acceleration.z = imu_data[2]
imu.angular_velocity.x = imu_data[3]*np.pi/180
imu.angular_velocity.y = imu_data[4]*np.pi/180
imu.angular_velocity.z = imu_data[5]*np.pi/180
imu.eular.roll = imu_data[6]*np.pi/180
imu.eular.pitch = imu_data[7]*np.pi/180
imu.eular.yaw = imu_data[8]*np.pi/180
imu.orientation.x = imu_data[9]
imu.orientation.y = imu_data[10]
imu.orientation.z = imu_data[11]
imu.orientation.w = imu_data[12]

memmap接收

imu_rt_bf = np.memmap(path_log+"imu_right_thigh.npy", dtype='float32', mode='r',shape=(13,))
imu_rs_bf = np.memmap(path_log+"imu_right_shank.npy", dtype='float32', mode='r',shape=(13,))
imu_rf_bf = np.memmap(path_log+"imu_right_foot.npy", dtype='float32', mode='r',shape=(13,))
imu_lt_bf = np.memmap(path_log+"imu_left_thigh.npy", dtype='float32', mode='r',shape=(13,))
imu_ls_bf = np.memmap(path_log+"imu_left_shank.npy", dtype='float32', mode='r',shape=(13,))
imu_lf_bf = np.memmap(path_log+"imu_left_foot.npy", dtype='float32', mode='r',shape=(13,))
imu_tr_bf = np.memmap(path_log+"imu_trunk.npy", dtype='float32', mode='r',shape=(13,))

数据采集

确保蓝牙可以稳定连接4个imu，不然就换串口

roslaunch hps_moco imu_blue.launch
roslaunch hps_moco imu_serial.launch
python3 online_imu_record.py

键盘操作开始录制或者初始化等

运动学分析

python3 forward_kinematics.py

urdf尺寸修改

在conf中修改相关尺寸

mass = 66
height = 1.78
foot_length = 0.24
shank_length = 0.4
thigh_length = 0.4
trunk_length = 0.7

python3 change_xacro.py
sh xacro_to_urdf.sh