参考:https://blog.csdn.net/eaibot/article/details/51398074/
在win7中下载arduino
添加库函数
下载 http://diyhacking.com/projects/MPU6050.zip 和 http://diyhacking.com/projects/I2Cdev.zip,解压后放到Arduino的libraries目录下,重启Arduino.
cd ./catkin_ws/src/
git clone https://github.com/fsteinhardt/mpu6050_serial_to_imu
git clone https://github.com/ccny-ros-pkg/imu_tools
sudo apt-get install ros-indigo-serial
cd ~catkin_ws/
catkin_make --pkg mpu6050_serial_to_imu imu_tools
source ~/.bashrc
将mpu6050_serial_to_imu下arduino下的mpu6050通过U盘拷到win7中烧录
在demo.launch 改为/dev/ttyUSB0
打开终端 sudo chmod a+rw /dev/ttyUSB0roslaunch mpu6050_serial_to_imu demo.launch