twistimu package from twistimu repo


Package Summary

Tags No category tags.
Version 1.0.0
License BSD
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version 1.0.0
Last Updated 2017-10-16
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Node that convert IMU data to a Twist for manual robot drive.

Additional Links

No additional links.


  • Easymov Robotics


  • Gérald Lelong


Package Summary

ROS Node that convert IMU data to a Twist for manual robot drive.

  • Maintainer status: maintained
  • Maintainer: Gérald Lelong (gerald.lelong AT easymov DOT fr)
  • Author: Gérald Lelong
  • License: BSD
  • Source: git (branch: master)


Use this node to drive your robot with an IMU device. Try this android app : to use an android phone as controller.

X axis command velocity, Y axis command direction.

Quick start

Clone this repository into the source directory of a valid catkin workspace then build it and don't forget to source the setup file in the devel directory of your catkin workspace.

roslaunch twistimu turtle.launch

rosbag play bags/android_imu.bag


Subscribed Topics

~imu (sensors_msgs/IMU)

IMU input

Published Topics

~cmd (geometry_msgs/Twist)

Command output

Parameters (Dynamic Reconfigure)

  • pitch_min [double]: angle where direction is full left
  • pitch_neutral [double]: angle where direction is straight
  • pitch_max [double]: angle where direction is full right
  • roll_min [double]: angle where output speed is full backward
  • roll_neutral [double]: angle where output speed is neutral
  • roll_max [double]: angle where output speed is full forward
  • speed_min [double]: maximum allowed backward speed
  • speed_neutral [double]: stop speed
  • speed_max [double]: maximum allowed forward speed
  • roll_dead_zone [double]: neutral speed zone size
  • pitch_dead_zone [double]: straight direction zone size
  • max_acceleration [double]: maximum allowed acceleration
  • track [double]: distance between the centerline of two roadwheels on the same axle

Launch file

roslaunch twistimu turtle.launch

Publish to /android/imu and control a turtle.


Changelog for package twistimu

1.0.0 (2017-10-16)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files


No message files found.


No service files found


No plugins found.

Recent questions tagged twistimu at Robotics Stack Exchange