0.0, 0.0001, 0.0, 0.0, 0.0, 100.0] # # linear acceleration not available # imuMessage.linear_acceleration_covariance = [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] yawOffset = None previousTimestamp = rospy.get_time() previousYaw = None while not rospy.is_shutdown(): currentTimestamp = rospy.get_time() roll, pitch, yaw, exception = imu.getOrientation() if exception: rospy.logwarn("getOrientation() exception: %s" % (exception)) continue deltaTime = currentTimestamp - previousTimestamp # roll = roll / 180 * pi # pitch = pitch / 180 * pi try: yaw = -1 * yaw / 180 * pi except: rospy.logwarn('Exception converting raw yaw %d to radians' % (yaw)) continue if not yawOffset: