{"id":13649543,"url":"https://github.com/CCNYRoboticsLab/imu_tools","last_synced_at":"2025-04-22T14:32:02.423Z","repository":{"id":3641534,"uuid":"4708783","full_name":"CCNYRoboticsLab/imu_tools","owner":"CCNYRoboticsLab","description":"ROS tools for IMU devices","archived":false,"fork":false,"pushed_at":"2024-07-09T13:01:29.000Z","size":3559,"stargazers_count":892,"open_issues_count":23,"forks_count":424,"subscribers_count":35,"default_branch":"noetic","last_synced_at":"2024-08-13T00:22:48.825Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"other","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/CCNYRoboticsLab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2012-06-19T02:51:22.000Z","updated_at":"2024-08-13T00:22:57.458Z","dependencies_parsed_at":"2023-11-14T14:28:36.135Z","dependency_job_id":"d662e5cc-d8ce-48bd-9b4a-dd338acf7c4a","html_url":"https://github.com/CCNYRoboticsLab/imu_tools","commit_stats":{"total_commits":199,"total_committers":31,"mean_commits":6.419354838709677,"dds":0.5125628140703518,"last_synced_commit":"472666b8430521ba0203e236165ac8f09cc4b41f"},"previous_names":["ccny-ros-pkg/imu_tools"],"tags_count":41,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CCNYRoboticsLab%2Fimu_tools","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CCNYRoboticsLab%2Fimu_tools/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CCNYRoboticsLab%2Fimu_tools/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CCNYRoboticsLab%2Fimu_tools/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/CCNYRoboticsLab","download_url":"https://codeload.github.com/CCNYRoboticsLab/imu_tools/tar.gz/refs/heads/noetic","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":250259092,"owners_count":21401038,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-08-02T02:00:18.536Z","updated_at":"2025-04-22T14:31:57.410Z","avatar_url":"https://github.com/CCNYRoboticsLab.png","language":"C++","readme":"IMU tools for ROS\n=================\n\nOverview\n--------\n\nIMU-related filters and visualizers. The repository contains:\n\n* `imu_filter_madgwick`: a filter which fuses angular velocities,\n  accelerations, and (optionally) magnetic readings from a generic IMU\n  device into an orientation. Based on the work of [1].\n\n* `imu_complementary_filter`: a filter which fuses angular velocities,\n  accelerations, and (optionally) magnetic readings from a generic IMU\n  device into an orientation quaternion using a novel approach based on a\n  complementary fusion. Based on the work of [2].\n\n* `rviz_imu_plugin` a plugin for rviz which displays `sensor_msgs::Imu` messages\n\n[1]: https://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/\n\n[2]: https://www.mdpi.com/1424-8220/15/8/19302\n\n\nInstalling\n----------\n\n### From binaries\n\nThis repo has been released into all current ROS1 and ROS2 distros. To install,\nsimply:\n\n    sudo apt-get install ros-\u003cYOUR_ROSDISTO\u003e-imu-tools\n\n### From source (ROS1)\n\n[Create a catkin workspace](https://wiki.ros.org/catkin/Tutorials/create_a_workspace)\n(e.g., `~/catkin_ws/`) and source the `devel/setup.bash` file.\n\nMake sure you have git installed:\n\n    sudo apt-get install git\n\nClone this repository into your catkin workspace (e.g., `~/catin_ws/src`; use\nthe proper branch for your distro, e.g., `melodic`, `noetic`, ...):\n\n    git clone -b \u003cYOUR_ROSDISTO\u003e https://github.com/CCNYRoboticsLab/imu_tools.git\n\nInstall any dependencies using [rosdep](https://www.ros.org/wiki/rosdep).\n\n    rosdep install imu_tools\n\nCompile the stack:\n\n    cd ~/catkin_ws\n    catkin_make\n\n### From source (ROS2)\n\nFollow the steps from the ROS2 [Creating a\nworkspace](https://docs.ros.org/en/rolling/Tutorials/Workspace/Creating-A-Workspace.html)\ndocumentation, but instead of cloning the sample repo, clone the proper branch\nof this repo instead:\n\n    git clone -b \u003cYOUR_ROSDISTO\u003e https://github.com/CCNYRoboticsLab/imu_tools.git\n\n\nMore info\n---------\n\nAll nodes, topics and parameters are documented on [this repo's ROS wiki\npage](https://wiki.ros.org/imu_tools).\n\n\npre-commit formatting checks\n----------------------------\n\nThis repo has a [pre-commit](https://pre-commit.com/) check that runs in CI.\nYou can use this locally and set it up to run automatically before you commit\nsomething. To install, use pip:\n\n```bash\npip3 install --user pre-commit\n```\n\nTo run over all the files in the repo manually:\n\n```bash\npre-commit run -a\n```\n\nTo run pre-commit automatically before committing in the local repo, install the git hooks:\n\n```bash\npre-commit install\n```\n\nLicense\n-------\n\n* `imu_filter_madgwick`: currently licensed as GPL, following the original implementation\n\n* `imu_complementary_filter`: BSD\n\n* `rviz_imu_plugin`: BSD\n","funding_links":[],"categories":["Hardware"],"sub_categories":["Sensors"],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FCCNYRoboticsLab%2Fimu_tools","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FCCNYRoboticsLab%2Fimu_tools","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FCCNYRoboticsLab%2Fimu_tools/lists"}