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 the devel/setup.bash file.

Make sure you have git installed:

sudo apt-get install git-core

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

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

Install any dependencies using rosdep.

rosdep install 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

Running the package

[1] rosrun imu_filter_madgwick imu_filter_node _use_mag:=false

[2] remap /dvs/imu:= /imu/data_raw [If using the bag file:= rosbag play -l 2016-08-25-18-04-30.bag /dvs/imu:=/imu/data_raw]

[3] Check the output on RVIZ by adding imu plugin or use rostopic echo /imu/data and check the values under orienation header.

[4] For viewing the camera output, there is some error in camera frame_id, hence rviz is not able to visualize it, temporarily use = rosrun image_view image_vie image:=/dvs/image_raw

References

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

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