TwistIMU

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 git@gitlab.com:easymov/twistimu.git (branch: master)

Overview

Use this node to drive your robot with an IMU device. Try this android app : https://github.com/chadrockey/android_sensors_driver 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

Node

twistimu.py

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.