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_plugina plugin for rviz which displayssensor_msgs::Imumessages
This repo has been released into all current ROS1 and ROS2 distros. To install, simply:
sudo apt-get install ros-<YOUR_ROSDISTO>-imu-tools
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
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
All nodes, topics and parameters are documented on this repo's ROS wiki page.
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-commitTo run over all the files in the repo manually:
pre-commit run -aTo run pre-commit automatically before committing in the local repo, install the git hooks:
pre-commit install-
imu_filter_madgwick: currently licensed as GPL, following the original implementation -
imu_complementary_filter: BSD -
rviz_imu_plugin: BSD