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A ROS driver for the TrackIMU headtracker IMU. This board consists of 3 sensors: magnetic, gyro and acceleration sensor.
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config updated for dashing Aug 4, 2019
ros2_track_imu frame id as parameter Aug 11, 2019
.gitignore small fixes for ros2 install Mar 24, 2019
CHANGELOG.rst CHANGELOG: updating for release Jan 20, 2018
LICENSE fixed readme Mar 24, 2019
package.xml small fixes for ros2 install Mar 24, 2019
setup.cfg ros2 Mar 23, 2019

ROS2 TrackIMU Node

Ros2 Node for TrackIMU


Source your ROS2 workspace and run

colcon build


ros2 run ros2_track_imu imu_node


In its default configuration, ros2_track_imu expects a yaml config file ros2_track_imu.yaml with:

  • USB port to use
  • Calibration parameters

An exampleros2_track_imu.yaml file is provided. Copy that file to ros2_track_imu.yaml as follows:

Then, edit ros2_track_imu.yaml as needed

Ros2 Launch

Not implemented yet.

Publisher and 3D visualization:

$ ros2 launch ros2_track_imu

Publisher only:

$ ros2 launch ros2_track_imu

Publisher only with diagnostics:

$ ros2 launch ros2_track_imu

3D visualization only:

$ ros2 launch ros2_track_imu


For best accuracy, follow the tutorial to calibrate the sensors:

An updated version of Peter Bartz's magnetometer calibration scripts from is provided in the magnetometer_calibration directory.

Update my_razor.yaml with the new calibration parameters.

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