IMU tools for ROS
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 .
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 .
rviz_imu_plugina plugin for rviz which displays
Create a catkin workspace
~/ros-hydro-ws/) and source the
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.,
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