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]. -
rviz_imu_plugin
a plugin for rviz which displayssensor_msgs::Imu
messages
Create a directory where you want the package downloaded (ex. ~/ros
),
and add it to $ROS_PACKAGE_PATH
.
Make sure you have git installed:
sudo apt-get install git-core
Download the stack from our repository:
git clone https://github.com/ccny-ros-pkg/imu_tools.git
Install any dependencies using rosdep.
rosdep install imu_tools
Compile the stack:
rosmake imu_tools
-
imu_filter_madgwick
: currently licensed as GPL, following the original implementation -
rviz_imu_plugin
: BSD
[1] http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms