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

References

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

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