ROS driver package for XG6000 IMU sensor
| Parameter | Value | Unit |
|---|---|---|
| Measurement - Angular rate | ±250 | deg/sec |
| Measurement - Acceleration | ±2 | g |
| Bandwidth - Angular rate | 12 | Hz |
| Bandwidth - Acceleration | 62.5 | Hz |
| Yaw axis angular rate - Scale factor error | 0.3 | % |
| Yaw axis angular rate - Bias drift | 10 | deg/hr |
| Yaw axis relative angle - Proportional error | 0.3 | % |
| Yaw axis relative angle - Drift error | 10 | deg/hr |
| Roll, pitch accuracy - Static error | 0.3 | deg |
| Roll, pitch accuracy - Dynamic error | 0.7 | deg |
| Resolution - Angular rate | 0.01 | deg/sec |
| Resolution - Angle | 0.01 | deg |
| Resolution - Acceleration | 1 | mg |
| Data rate | 100 | Hz |
| Topic Name | Type | Description |
|---|---|---|
imu/data |
sensor_msgs/Imu |
IMU data |
imu/rpy |
geometry_msgs/Vector3Stamped |
roll, pitch, yaw data |
| Service Name | Type | Description |
|---|---|---|
imu/reset |
std_srvs/Trigger |
Reset the sensor |
cd ~/catkin_ws/src/
git clone https://github.com/roasinc/mi_ros.git
cd ~/catkn_ws/
rosdep install --from-paths src --ignore-src -y
catkin_make
sudo chmod 666 /dev/ttyUSB0
roslaunch mi_ros mi.launch