https://github.com/yushijinhun/ros2_imu_tools
https://github.com/yushijinhun/ros2_imu_tools
Last synced: 3 months ago
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- Host: GitHub
- URL: https://github.com/yushijinhun/ros2_imu_tools
- Owner: yushijinhun
- License: apache-2.0
- Created: 2022-02-17T10:11:13.000Z (over 3 years ago)
- Default Branch: master
- Last Pushed: 2022-02-18T07:59:23.000Z (over 3 years ago)
- Last Synced: 2025-01-20T20:40:22.229Z (5 months ago)
- Language: C++
- Size: 168 KB
- Stars: 0
- Watchers: 3
- Forks: 1
- Open Issues: 0
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Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
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README
# IMU tools
This repository provides packages for computing and visualizing the orientation of, e.g., a robot.
## Components
### `imu_fusion_madgwick`
This package implements a filter for fusing accelerometer and gyrometer readings to orientation. It subscribes to the topic `/imu/data_raw` and publishes the computed orientation to `/imu/data` (including the raw accelerometer and raw gyrometer readings).
### `imu_tf`
Provides a node `transform` which transforms latest `/tf` to world frame coordinates using the orientation retrieved from the subscribed topic `/imu/data` and then broadcasts the transformed `/tf`.
Parameters:
- `source_frame` - `string`, default: `"imu_link"`
- `target_frame` - `string`, default: `"imu_link_oriented"`
### `imu_viz`
This package visualizes the orientation of the robot with three arrows representing the axes X (roll), Y (pitch) and Z (yaw). The axes (XYZ) are mapped to the colors red, green and blue (RGB).
For seeing the axes in RViz, you need to add a Display of type `MarkerArray` and subscibe to the topic `/imu/viz`.
