hwtimu_driver

Overview

hwtimu_driver is the implementation of the drivers and some IMU tools.

This stack contains:

• hwtimu: a imu driver for GYROSCOPE.

• imu_tools: IMU-related filters and visualizers. It contains:

  1. 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].

  2. 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].

  3. rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

• memsic_driver: a driver for memsic IMU.

• nodecbk: a ROS node contains a callback function for ROS topic /imu/data.

How to use

• hwtimu

catkin_make
roslaunch hwtimu hwtimusubexp.launch

• imu_tools read the README.md.

• memsic_driver

rosrun memsic_driver imu_talker

• nodecbk

rosrun nodecbk nodecbk

More info

• hwtimu

A driver fot both HWT901B(www.wit-motion.com) and ADIS16365.

• imu_tools:

https://github.com/ccny-ros-pkg/imu_tools

http://wiki.ros.org/imu_tools

License

• imu_filter_madgwick: currently licensed as GPL, following the original implementation

• imu_complementary_filter: BSD

• rviz_imu_plugin: BSD

References