IMU tools for ROS

IMU tools for ROS

Overview

IMU-related filters and visualizers.The stack contains:

• imu_filter_madgwick: a filter which fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into an orientation. Based on the work of [1].
• imu_complementary_filter: a filter which fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into an orientation quaternion using a novel approach based on a complementary fusion. Based on the work of [2].
• rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

Installing

From source

Create a catkin workspace (e.g., ~/ros-hydro-ws/) and source thedevel/setup.bash file.

Make sure you have git installed:

sudoapt-get install git-core

Download the stack from ourrepository into your catkin workspace (e.g., ros-hydro-ws/src; use the proper branch for your distro, e.g., groovy, hydro...):

gitclone -b <distro> https://github.com/ccny-ros-pkg/imu_tools.git

Install any dependencies using rosdep.

rosdepinstall imu_tools

Compile the stack:

cd~/ros-hydro-ws

catkin_make

More info

http://wiki.ros.org/imu_tools

License

• imu_filter_madgwick: currently licensed as GPL, following the original implementation
• imu_complementary_filter: BSD
• rviz_imu_plugin: BSD

References

[1] http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/

[2] http://www.mdpi.com/1424-8220/15/8/19302

 

Overview

This stackcontains IMU-related filters and visualizers.

Installing

From binaries

sudo apt-get install ros-kinetic-imu-tools

From source

Create adirectory where you want the package downloaded (ex. ~/ros), and add it to $ROS_PACKAGE_PATH.

Make sure you havegitinstalled:

Toggleline numbers

   1 sudoapt-getinstallgit-core

Download thestack from our repository:

Toggleline numbers

   1 gitclonehttps://github.com/ccny-ros-pkg/imu_tools.git

Install anydependencies using rosdep.

Toggleline numbers

   1 rosdepinstallimu_tools

Compile thestack:

Toggleline numbers

   1 rosmakeimu_tools

Bug Reports & Feature Requests