Raspberry Pi Code

apt-get

ros-kinetic-imu-filter-madgwick ros-kinetic-robot-localization

Manual libraries

IMU Library

https://github.com/RPi-Distro/RTIMULib/tree/master/Linux

• Build and install library and run calibration
• Build and install python library

Setup

RTC

sudo nano /etc/modules Ensure the following are listed

i2c-bcm2708
i2c-dev

Download and install the Piface RTC code

Shutdown button

This library is used but with a modified pin of 26 and a shutdown timeout of 2 seconds https://github.com/scruss/shutdown_button