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_plugina plugin for rviz which displayssensor_msgs::Imumessages
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
-
imu_filter_madgwick: currently licensed as GPL, following the original implementation -
imu_complementary_filter: BSD -
rviz_imu_plugin: BSD
[1] http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/