Repository Summary

Checkout URI https://github.com/ccny-ros-pkg/imu_tools.git
VCS Type git
VCS Version humble
Last Updated 2022-07-22
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

IMU tools for ROS

Overview

IMU-related filters and visualizers. The repository 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 1.

  • 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.

  • rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

Installing

From binaries

This repo has been released into all current ROS1 and ROS2 distros. To install, simply:

sudo apt-get install ros-<YOUR_ROSDISTO>-imu-tools

From source (ROS1)

Create a catkin workspace (e.g., ~/catkin_ws/) and source the devel/setup.bash file.

Make sure you have git installed:

sudo apt-get install git

Clone this repository into your catkin workspace (e.g., ~/catin_ws/src; use the proper branch for your distro, e.g., melodic, noetic, ...):

git clone -b <YOUR_ROSDISTO> https://github.com/CCNYRoboticsLab/imu_tools.git

Install any dependencies using rosdep.

rosdep install imu_tools

Compile the stack:

cd ~/catkin_ws
catkin_make

From source (ROS2)

Follow the steps from the ROS2 Creating a workspace documentation, but instead of cloning the sample repo, clone the proper branch of this repo instead:

git clone -b <YOUR_ROSDISTO> https://github.com/CCNYRoboticsLab/imu_tools.git

More info

All nodes, topics and parameters are documented on this repo's ROS wiki page.

pre-commit formatting checks

This repo has a pre-commit check that runs in CI. You can use this locally and set it up to run automatically before you commit something. To install, use pip:

pip3 install --user pre-commit

To run over all the files in the repo manually:

pre-commit run -a

To run pre-commit automatically before committing in the local repo, install the git hooks:

pre-commit install

License

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

  • imu_complementary_filter: BSD

  • rviz_imu_plugin: BSD

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ccny-ros-pkg/imu_tools.git
VCS Type git
VCS Version galactic
Last Updated 2022-07-14
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

IMU tools for ROS

Overview

IMU-related filters and visualizers. The repository 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 1.

  • 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.

  • rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

Installing

From binaries

This repo has been released into all current ROS1 and ROS2 distros. To install, simply:

sudo apt-get install ros-<YOUR_ROSDISTO>-imu-tools

From source (ROS1)

Create a catkin workspace (e.g., ~/catkin_ws/) and source the devel/setup.bash file.

Make sure you have git installed:

sudo apt-get install git

Clone this repository into your catkin workspace (e.g., ~/catin_ws/src; use the proper branch for your distro, e.g., melodic, noetic, ...):

git clone -b <YOUR_ROSDISTO> https://github.com/CCNYRoboticsLab/imu_tools.git

Install any dependencies using rosdep.

rosdep install imu_tools

Compile the stack:

cd ~/catkin_ws
catkin_make

From source (ROS2)

Follow the steps from the ROS2 Creating a workspace documentation, but instead of cloning the sample repo, clone the proper branch of this repo instead:

git clone -b <YOUR_ROSDISTO> https://github.com/CCNYRoboticsLab/imu_tools.git

More info

All nodes, topics and parameters are documented on this repo's ROS wiki page.

pre-commit formatting checks

This repo has a pre-commit check that runs in CI. You can use this locally and set it up to run automatically before you commit something. To install, use pip:

pip3 install --user pre-commit

To run over all the files in the repo manually:

pre-commit run -a

To run pre-commit automatically before committing in the local repo, install the git hooks:

pre-commit install

License

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

  • imu_complementary_filter: BSD

  • rviz_imu_plugin: BSD

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ccny-ros-pkg/imu_tools.git
VCS Type git
VCS Version foxy
Last Updated 2022-07-14
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

IMU tools for ROS

Overview

IMU-related filters and visualizers. The repository 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 1.

  • 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.

  • rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

Installing

From binaries

This repo has been released into all current ROS1 and ROS2 distros. To install, simply:

sudo apt-get install ros-<YOUR_ROSDISTO>-imu-tools

From source (ROS1)

Create a catkin workspace (e.g., ~/catkin_ws/) and source the devel/setup.bash file.

Make sure you have git installed:

sudo apt-get install git

Clone this repository into your catkin workspace (e.g., ~/catin_ws/src; use the proper branch for your distro, e.g., melodic, noetic, ...):

git clone -b <YOUR_ROSDISTO> https://github.com/CCNYRoboticsLab/imu_tools.git

Install any dependencies using rosdep.

rosdep install imu_tools

Compile the stack:

cd ~/catkin_ws
catkin_make

From source (ROS2)

Follow the steps from the ROS2 Creating a workspace documentation, but instead of cloning the sample repo, clone the proper branch of this repo instead:

git clone -b <YOUR_ROSDISTO> https://github.com/CCNYRoboticsLab/imu_tools.git

More info

All nodes, topics and parameters are documented on this repo's ROS wiki page.

pre-commit formatting checks

This repo has a pre-commit check that runs in CI. You can use this locally and set it up to run automatically before you commit something. To install, use pip:

pip3 install --user pre-commit

To run over all the files in the repo manually:

pre-commit run -a

To run pre-commit automatically before committing in the local repo, install the git hooks:

pre-commit install

License

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

  • imu_complementary_filter: BSD

  • rviz_imu_plugin: BSD

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ccny-ros-pkg/imu_tools.git
VCS Type git
VCS Version rolling
Last Updated 2022-07-14
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

IMU tools for ROS

Overview

IMU-related filters and visualizers. The repository 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 1.

  • 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.

  • rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

Installing

From binaries

This repo has been released into all current ROS1 and ROS2 distros. To install, simply:

sudo apt-get install ros-<YOUR_ROSDISTO>-imu-tools

From source (ROS1)

Create a catkin workspace (e.g., ~/catkin_ws/) and source the devel/setup.bash file.

Make sure you have git installed:

sudo apt-get install git

Clone this repository into your catkin workspace (e.g., ~/catin_ws/src; use the proper branch for your distro, e.g., melodic, noetic, ...):

git clone -b <YOUR_ROSDISTO> https://github.com/CCNYRoboticsLab/imu_tools.git

Install any dependencies using rosdep.

rosdep install imu_tools

Compile the stack:

cd ~/catkin_ws
catkin_make

From source (ROS2)

Follow the steps from the ROS2 Creating a workspace documentation, but instead of cloning the sample repo, clone the proper branch of this repo instead:

git clone -b <YOUR_ROSDISTO> https://github.com/CCNYRoboticsLab/imu_tools.git

More info

All nodes, topics and parameters are documented on this repo's ROS wiki page.

pre-commit formatting checks

This repo has a pre-commit check that runs in CI. You can use this locally and set it up to run automatically before you commit something. To install, use pip:

pip3 install --user pre-commit

To run over all the files in the repo manually:

pre-commit run -a

To run pre-commit automatically before committing in the local repo, install the git hooks:

pre-commit install

License

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

  • imu_complementary_filter: BSD

  • rviz_imu_plugin: BSD

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ccny-ros-pkg/imu_tools.git
VCS Type git
VCS Version noetic
Last Updated 2022-08-19
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

IMU tools for ROS

Overview

IMU-related filters and visualizers. The repository 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 1.

  • 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.

  • rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

Installing

From binaries

This repo has been released into all current ROS1 and ROS2 distros. To install, simply:

sudo apt-get install ros-<YOUR_ROSDISTO>-imu-tools

From source (ROS1)

Create a catkin workspace (e.g., ~/catkin_ws/) and source the devel/setup.bash file.

Make sure you have git installed:

sudo apt-get install git

Clone this repository into your catkin workspace (e.g., ~/catin_ws/src; use the proper branch for your distro, e.g., melodic, noetic, ...):

git clone -b <YOUR_ROSDISTO> https://github.com/CCNYRoboticsLab/imu_tools.git

Install any dependencies using rosdep.

rosdep install imu_tools

Compile the stack:

cd ~/catkin_ws
catkin_make

From source (ROS2)

Follow the steps from the ROS2 Creating a workspace documentation, but instead of cloning the sample repo, clone the proper branch of this repo instead:

git clone -b <YOUR_ROSDISTO> https://github.com/CCNYRoboticsLab/imu_tools.git

More info

All nodes, topics and parameters are documented on this repo's ROS wiki page.

pre-commit formatting checks

This repo has a pre-commit check that runs in CI. You can use this locally and set it up to run automatically before you commit something. To install, use pip:

pip3 install --user pre-commit

To run over all the files in the repo manually:

pre-commit run -a

To run pre-commit automatically before committing in the local repo, install the git hooks:

pre-commit install

License

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

  • imu_complementary_filter: BSD

  • rviz_imu_plugin: BSD

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ccny-ros-pkg/imu_tools.git
VCS Type git
VCS Version melodic
Last Updated 2022-08-19
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

IMU tools for ROS

Overview

IMU-related filters and visualizers. The repository 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 1.

  • 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.

  • rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

Installing

From binaries

This repo has been released into all current ROS1 and ROS2 distros. To install, simply:

sudo apt-get install ros-<YOUR_ROSDISTO>-imu-tools

From source (ROS1)

Create a catkin workspace (e.g., ~/catkin_ws/) and source the devel/setup.bash file.

Make sure you have git installed:

sudo apt-get install git

Clone this repository into your catkin workspace (e.g., ~/catin_ws/src; use the proper branch for your distro, e.g., melodic, noetic, ...):

git clone -b <YOUR_ROSDISTO> https://github.com/CCNYRoboticsLab/imu_tools.git

Install any dependencies using rosdep.

rosdep install imu_tools

Compile the stack:

cd ~/catkin_ws
catkin_make

From source (ROS2)

Follow the steps from the ROS2 Creating a workspace documentation, but instead of cloning the sample repo, clone the proper branch of this repo instead:

git clone -b <YOUR_ROSDISTO> https://github.com/CCNYRoboticsLab/imu_tools.git

More info

All nodes, topics and parameters are documented on this repo's ROS wiki page.

pre-commit formatting checks

This repo has a pre-commit check that runs in CI. You can use this locally and set it up to run automatically before you commit something. To install, use pip:

pip3 install --user pre-commit

To run over all the files in the repo manually:

pre-commit run -a

To run pre-commit automatically before committing in the local repo, install the git hooks:

pre-commit install

License

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

  • imu_complementary_filter: BSD

  • rviz_imu_plugin: BSD

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ccny-ros-pkg/imu_tools.git
VCS Type git
VCS Version eloquent
Last Updated 2021-10-10
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

IMU tools for ROS

Overview

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 [1].

  • 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].

  • rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

Installing

From source

Create a catkin workspace (e.g., ~/ros-hydro-ws/) and source the devel/setup.bash file.

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., groovy, hydro...):

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

More info

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

[1] http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/

[2] http://www.mdpi.com/1424-8220/15/8/19302

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ccny-ros-pkg/imu_tools.git
VCS Type git
VCS Version lunar
Last Updated 2019-05-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

IMU tools for ROS

Overview

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 [1].

  • 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].

  • rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

Installing

From source

Create a catkin workspace (e.g., ~/ros-hydro-ws/) and source the devel/setup.bash file.

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., groovy, hydro...):

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

More info

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

[1] http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/

[2] http://www.mdpi.com/1424-8220/15/8/19302

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ccny-ros-pkg/imu_tools.git
VCS Type git
VCS Version jade
Last Updated 2017-05-22
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

IMU tools for ROS

Overview

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 [1].

  • 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].

  • rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

Installing

From source

Create a catkin workspace (e.g., ~/ros-hydro-ws/) and source the devel/setup.bash file.

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., groovy, hydro...):

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

More info

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

[1] http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/

[2] http://www.mdpi.com/1424-8220/15/8/19302

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ccny-ros-pkg/imu_tools.git
VCS Type git
VCS Version indigo
Last Updated 2017-05-22
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
imu_complementary_filter 1.0.15
imu_filter_madgwick 1.0.15
imu_tools 1.0.15
rviz_imu_plugin 1.0.15

README

IMU tools for ROS

Overview

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 [1].

  • 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].

  • rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

Installing

From source

Create a catkin workspace (e.g., ~/ros-hydro-ws/) and source the devel/setup.bash file.

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., groovy, hydro...):

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

More info

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

[1] http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/

[2] http://www.mdpi.com/1424-8220/15/8/19302

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ccny-ros-pkg/imu_tools.git
VCS Type git
VCS Version hydro
Last Updated 2015-09-25
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
imu_filter_madgwick 1.0.5
imu_tools 1.0.5
rviz_imu_plugin 1.0.5

README

IMU tools for ROS

Overview

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 [1].

  • rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

Installing

From source

Create a catkin workspace (e.g., ~/ros-hydro-ws/) and source the devel/setup.bash file.

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., groovy, hydro...):

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

More info

http://wiki.ros.org/imu_tools

License

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

  • rviz_imu_plugin: BSD

References

[1] http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ccny-ros-pkg/imu_tools.git
VCS Type git
VCS Version kinetic
Last Updated 2021-04-14
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

IMU tools for ROS

Overview

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 [1].

  • 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].

  • rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

Installing

From source

Create a catkin workspace (e.g., ~/ros-hydro-ws/) and source the devel/setup.bash file.

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., groovy, hydro...):

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

More info

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

[1] http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/

[2] http://www.mdpi.com/1424-8220/15/8/19302

CONTRIBUTING

No CONTRIBUTING.md found.