FAQ

What data does calibration require as input?

Calibration requires only raw sensor data. We do not take as input any form of localization or odometry.

Is there any other data I can provide you that is helpful?

We can produce a calibration using only raw sensor data. However, information such as CAD and TF trees can be used to constrain non-observable dimensions of calibration, such as the height of an IMU for a 2D robot. Therefore, we ask you to provide this data if you have it.

Will my field operators be able to execute the calibration procedure?

Yes! Field operators calibrate using MSA software every day.

Can the robot calibrate itself without a human present?

Yes! Robots autonomously perform the MSA calibration procedure every day, and use MSA software on board to calibrate.

Can I send metadata with my sensor data and have MSA reflect it in the calibration output?

Yes! Upload a msa_metadata.tar file when creating your log - it will be included in the Calibration Output.

Do you support log data in non-ROS formats?

Yes! If you have non-ROS logs, get in touch to talk to us about your situation. In general, custom log formats require substantial engineering to decode, which takes time. For faster results, send Rosbag data.