{"id":96,"date":"2018-11-01T12:08:18","date_gmt":"2018-11-01T03:08:18","guid":{"rendered":"https:\/\/ahnbk.com\/?p=96"},"modified":"2018-11-01T12:23:25","modified_gmt":"2018-11-01T03:23:25","slug":"imu_complementary_filter%eb%a5%bc-%ec%9d%b4%ec%9a%a9%ed%95%9c-imu-%ec%9e%90%ec%84%b8-%ec%b6%94%ec%a0%95","status":"publish","type":"post","link":"https:\/\/ahnbk.com\/?p=96","title":{"rendered":"imu_complementary_filter\ub97c \uc774\uc6a9\ud55c IMU \uc790\uc138 \ucd94\uc815"},"content":{"rendered":"\n<p>IMU\ub97c \uc774\uc6a9\ud55c \uc790\uc138\ucd94\uc815 \ubc29\ubc95\uc740 \ubcf4\ud1b5 \ubcf4\uc0c1 \ud544\ud130\ub97c \ub9ce\uc774 \uc0ac\uc6a9\ud55c\ub2e4. 3\ucd95 \uac00\uc18d\ub3c4 \uc13c\uc11c\uc640 3\ucd95 \uc790\uc774\ub85c\uc2a4\ucf54\ud504\ub97c \uc0ac\uc6a9\ud558\uace0, 3\ucd95 \uc9c0\uc790\uae30 \uc13c\uc11c\ub97c \uc774\uc6a9\ud558\uc5ec \ubcf4\uc815\ud55c\ub2e4. \uac00\uc18d\ub3c4 \uc13c\uc11c\ub294 3\ucd95\uc758 \uac00\uc18d\ub3c4 \uac12 (m\/s^2)\uc744 \ub450\ubc88 \uc801\ubd84\ud558\uc5ec \uc704\uce58\ub97c \uad6c\ud560\uc218 \uc788\uc73c\ub098 \ud68c\uc804 \ubc0f \uc9c4\ub3d9 \ub4f1\uc5d0 \uc758\ud574\uc11c \uac12\uc774 \ubcc0\ud558\ub294 \ub2e8\uc810\uc774 \uc788\uace0, \uc790\uc774\ub85c\uc2a4\ucf54\ud504\ub294 3\ucd95\uc758 \uac01\uc18d\ub3c4 (rad\/s)\ub97c \ud55c\ubc88 \uc801\ubd84\ud558\uc5ec \ud68c\uc804\uac01\uc744 \uc54c\uc544\ub0bc\uc218 \uc788\uc9c0\ub9cc \uac01 \ucd95\uc5d0 \ud3ec\ud568\ub41c \ud654\uc774\ud2b8 \ub178\uc774\uc988 \ub355\ubd84\uc5d0 \uc2dc\uac04\uc774 \ud750\ub97c\uc218\ub85d \uac12\uc774 \ubcc0\ud55c\ub2e4 (\uc77c\uba85 \ub4dc\ub9ac\ud504\ud2b8 \ud604\uc0c1).<\/p>\n\n\n\n<p>\ub530\ub77c\uc11c \uac01\uac01\uc758 \uc13c\uc11c\uac00 \uac00\uc9c0\ub294 \uc7a5\uc810\uc744 \ubf51\uc544\uc11c \uc0ac\uc6a9\ud558\uc790\ub294\uac8c \ubcf4\uc0c1\ud544\ud130\uc774\uace0, \uac04\ub2e8\ud558\uac8c\ub294 Low-pass filter, High-pass filter\ub97c \uc0ac\uc6a9\ud558\uac70\ub098, \ub450\uac1c\uc758 Band-pass filter\ub97c \uc0ac\uc6a9\ud558\ub294\uac8c \uc77c\ubc18\uc801\uc774\ub2e4. \uc774\uac8c \ubc14\ub85c \ubcf4\uc0c1 (complementary) \ud544\ud130\uc774\ub2e4.<\/p>\n\n\n\n<p>\uc9c1\uc811 \uad6c\ud604\ud574\uc11c \uc0ac\uc6a9\ud558\ub294 \uac83\ub3c4 \ubc29\ubc95\uc774\uae34\ud558\ub098, \uc774\ubbf8 \ub9ce\uc774 \uc54c\ub824\uc9c4 \uc54c\uace0\ub9ac\uc998\uc774\uace0 ROS\uc5d0 \ud328\ud0a4\uc9c0\ub85c\ub3c4 \uc874\uc7ac\ud558\ubbc0\ub85c \uc27d\uac8c \uc0ac\uc6a9\uc774 \uac00\ub2a5\ud558\ub2e4.<\/p>\n\n\n\n<p>\uc0ac\uc6a9\ud560 \ud328\ud0a4\uc9c0\ub294 <a href=\"http:\/\/wiki.ros.org\/action\/fullsearch\/imu_complementary_filter?action=fullsearch&amp;context=180&amp;value=linkto%3A%22imu_complementary_filter%22\">imu_complementary_filter<\/a>\uc774\ub2e4. \uc0ac\uc6a9 \ubc29\ubc95\uc740 \uc5f0\uacb0\ub41c \ub9c1\ud06c\uc758 wiki \ud398\uc774\uc9c0\uc5d0 \uc790\uc54c~ \ub418\uc5b4\uc788\ub2e4. \ub17c\ubb38\uc744 \uae30\ubc18\uc73c\ub85c \uac1c\ubc1c\ub41c \uac83 \uac19\uace0, \uac04\ub2e8\ud55c(?) \ube14\ub85d \ub2e4\uc774\ub7ec\uadf8\ub7a8\uc740 \ub2e4\uc74c\uacfc \uac19\ub2e4.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter is-resized\"><a href=\"https:\/\/www.mdpi.com\/1424-8220\/15\/8\/19302\" target=\"_blank\" rel=\"noreferrer noopener\"><img data-attachment-id=\"97\" data-permalink=\"https:\/\/ahnbk.com\/?attachment_id=97\" data-orig-file=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2018\/11\/image.png?fit=1010%2C498&amp;ssl=1\" data-orig-size=\"1010,498\" data-comments-opened=\"1\" data-image-meta=\"{&quot;aperture&quot;:&quot;0&quot;,&quot;credit&quot;:&quot;&quot;,&quot;camera&quot;:&quot;&quot;,&quot;caption&quot;:&quot;&quot;,&quot;created_timestamp&quot;:&quot;0&quot;,&quot;copyright&quot;:&quot;&quot;,&quot;focal_length&quot;:&quot;0&quot;,&quot;iso&quot;:&quot;0&quot;,&quot;shutter_speed&quot;:&quot;0&quot;,&quot;title&quot;:&quot;&quot;,&quot;orientation&quot;:&quot;0&quot;}\" data-image-title=\"image\" data-image-description=\"\" data-image-caption=\"\" data-medium-file=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2018\/11\/image.png?fit=300%2C148&amp;ssl=1\" data-large-file=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2018\/11\/image.png?fit=525%2C259&amp;ssl=1\" decoding=\"async\" loading=\"lazy\" src=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2018\/11\/image.png?resize=505%2C249&#038;ssl=1\" alt=\"\" class=\"wp-image-97\" width=\"505\" height=\"249\" srcset=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2018\/11\/image.png?w=1010&amp;ssl=1 1010w, https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2018\/11\/image.png?resize=300%2C148&amp;ssl=1 300w, https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2018\/11\/image.png?resize=768%2C379&amp;ssl=1 768w\" sizes=\"(max-width: 505px) 100vw, 505px\" data-recalc-dims=\"1\" \/><\/a><figcaption>Ref:&nbsp;https:\/\/www.mdpi.com\/1424-8220\/15\/8\/19302<\/figcaption><\/figure><\/div>\n\n\n\n<p>\uc124\uce58\ub294 \ub2e4\uc74c\uacfc \uac19\uc774 \ud558\uace0,<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>$ sudo apt install ros-kinetic-imu-complementary-filter<\/code><\/pre>\n\n\n\n<p>\uc0ac\uc6a9\uc740 \ub2e4\uc74c\uacfc \uac19\uc774,<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>$ rosrun imu_complementary_filter complementary_filter_node<\/code><\/pre>\n\n\n\n<p>complementary_filter_node\ub294 \/imu\/data_raw&nbsp;(<a href=\"http:\/\/docs.ros.org\/api\/sensor_msgs\/html\/msg\/Imu.html\">sensor_msgs\/Imu<\/a>)\ub97c Subscribe \ud55c\ub2e4. \uc0ac\uc6a9\ud558\ub824\ub294 IMU\uac00 \uc704 \ud1a0\ud53d\uc744 Publish \ud55c\ub2e4\uba74 \uace0\ub9d9\uac8c \uc0ac\uc6a9\ud560 \uc218 \uc788\uace0, \ud1a0\ud53d \uc774\ub984\uc774 \ub2e4\ub974\ub2e4\uba74 \ub2e4\uc74c\uacfc \uac19\uc774 \uc2e4\ud589\ud558\uba74 \ub05d!,<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>$ rosrun imu_complementary_filter complementary_filter_node \/imu\/data:=\/&lt;your_topic_name><\/code><\/pre>\n\n\n\n<p>\uacb0\uacfc\ub85c\ub294&nbsp;imu\/data&nbsp;(<a href=\"http:\/\/docs.ros.org\/api\/sensor_msgs\/html\/msg\/Imu.html\">sensor_msgs\/Imu<\/a>)\ub97c Publish \ud55c\ub2e4. \uacb0\uacfc\ub97c \uc0b4\ud3b4\ubcf4\uba74 \uc785\ub825 \ub370\uc774\ud130\uc5d0 Orientation \uac12\uc774 \uacc4\uc0b0\ub418\uc5b4 \ub098\uc634\uc744 \ud655\uc778\ud560 \uc218 \uc788\ub2e4.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>IMU\ub97c \uc774\uc6a9\ud55c \uc790\uc138\ucd94\uc815 \ubc29\ubc95\uc740 \ubcf4\ud1b5 \ubcf4\uc0c1 \ud544\ud130\ub97c \ub9ce\uc774 \uc0ac\uc6a9\ud55c\ub2e4. 3\ucd95 \uac00\uc18d\ub3c4 \uc13c\uc11c\uc640 3\ucd95 \uc790\uc774\ub85c\uc2a4\ucf54\ud504\ub97c \uc0ac\uc6a9\ud558\uace0, 3\ucd95 \uc9c0\uc790\uae30 \uc13c\uc11c\ub97c \uc774\uc6a9\ud558\uc5ec \ubcf4\uc815\ud55c\ub2e4. \uac00\uc18d\ub3c4 \uc13c\uc11c\ub294 3\ucd95\uc758 \uac00\uc18d\ub3c4 \uac12 (m\/s^2)\uc744 \ub450\ubc88 \uc801\ubd84\ud558\uc5ec \uc704\uce58\ub97c \uad6c\ud560\uc218 \uc788\uc73c\ub098 \ud68c\uc804 \ubc0f \uc9c4\ub3d9 \ub4f1\uc5d0 \uc758\ud574\uc11c \uac12\uc774 \ubcc0\ud558\ub294 \ub2e8\uc810\uc774 \uc788\uace0, \uc790\uc774\ub85c\uc2a4\ucf54\ud504\ub294 3\ucd95\uc758 \uac01\uc18d\ub3c4 (rad\/s)\ub97c \ud55c\ubc88 \uc801\ubd84\ud558\uc5ec \ud68c\uc804\uac01\uc744 \uc54c\uc544\ub0bc\uc218 \uc788\uc9c0\ub9cc \uac01 \ucd95\uc5d0 \ud3ec\ud568\ub41c \ud654\uc774\ud2b8 \ub178\uc774\uc988 \ub355\ubd84\uc5d0 &hellip; <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/ahnbk.com\/?p=96\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;imu_complementary_filter\ub97c \uc774\uc6a9\ud55c IMU \uc790\uc138 \ucd94\uc815&#8221;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"advanced_seo_description":"","jetpack_seo_html_title":"","jetpack_seo_noindex":false,"jetpack_post_was_ever_published":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"footnotes":"","_jetpack_memberships_contains_paid_content":false},"categories":[12],"tags":[15,14,13],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"jetpack_shortlink":"https:\/\/wp.me\/p2wXSW-1y","jetpack-related-posts":[],"jetpack_likes_enabled":false,"_links":{"self":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts\/96"}],"collection":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=96"}],"version-history":[{"count":2,"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts\/96\/revisions"}],"predecessor-version":[{"id":104,"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts\/96\/revisions\/104"}],"wp:attachment":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=96"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=96"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=96"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}