1,参照 http://wiki.ros.org/rviz_imu_plugin 安装rviz_imu_plugin,有助于调试查看。
https://github.com/ccny-ros-pkg/imu_tools
参照Readme编译安装:
source /opt/ros/kinetic/setup.bash
mkdir ws/src -p; cd ws/src
git clone -b <distro> https://github.com/ccny-ros-pkg/imu_tools.git
catkin_init_workspace //该命令会产生CMakeLists.txt -> /opt/ros/kinetic/share/catkin/cmake/toplevel.cmake 连接文件。
rosdep install imu_tools
cd ..
catkin_make
catkin_make install -DCMAKE_INSTALL_PREFIX=/opt/ros/kinetic
2,广播imu数据。
void RobotRo