Can i get filtered gavity free acceleration?

[kimms74]

Hello I use imu_3dm_gx4. In windows, i can get filtered acceleration output with gravity free. But when i use roslaunch this program, it doesn't publish acceleration in filtered output.

Is there any thing to get gravity free acceleration?

Or can you recommend other method to get gravity free accel?

Thanks you

[versatran01]

The driver does support filtered orientation. One thing you could try is to rotate the acceleration into the world frame given the filtered orientation and subtract the gravity and rotate it back.