22.2.3.2. 測試

$ rostopic echo /imu

  seq: 179
  stamp:
    secs: 1486448047
    nsecs: 147523921
  frame_id: imu_link
orientation:
  x: 0.0165222994983
  y: -0.0212152898312
  z: 0.276503056288
  w: 0.960632443428
orientation_covariance: [0.0024999999441206455, 0.0, 0.0, 0.0, 0.0024999999441206455, 0.0, 0.0, 0.0, 0.0024999999441206455]
angular_velocity:
  x: 2.0
  y: 1.0
  z: -1.0
angular_velocity_covariance: [0.019999999552965164, 0.0, 0.0, 0.0, 0.019999999552965164, 0.0, 0.0, 0.0, 0.019999999552965164]
linear_acceleration:
  x: 528.0
  y: 295.0
  z: 16648.0
linear_acceleration_covariance: [0.03999999910593033, 0.0, 0.0, 0.0, 0.03999999910593033, 0.0, 0.0, 0.0, 0.03999999910593033]