ROS2 TrackIMU Node

Ros2 Node for TrackIMU

Installation

Source your ROS2 workspace and run

colcon build

Usage

ros2 run ros2_track_imu imu_node

Configure

In its default configuration, ros2_track_imu expects a yaml config file ros2_track_imu.yaml with:

• USB port to use
• Calibration parameters

An exampleros2_track_imu.yaml file is provided. Copy that file to ros2_track_imu.yaml as follows:

Then, edit ros2_track_imu.yaml as needed

Ros2 Launch

Not implemented yet.

Publisher and 3D visualization:

$ ros2 launch ros2_track_imu track-imu-pub-and-display.py

Publisher only:

$ ros2 launch ros2_track_imu track-imu-pub.py

Publisher only with diagnostics:

$ ros2 launch ros2_track_imu track-imu-pub-diags.py

3D visualization only:

$ ros2 launch ros2_track_imu track-imu-display.py

Calibrate

For best accuracy, follow the tutorial to calibrate the sensors:

http://wiki.ros.org/razor_imu_9dof

An updated version of Peter Bartz's magnetometer calibration scripts from https://github.com/ptrbrtz/razor-9dof-ahrs is provided in the magnetometer_calibration directory.

Update my_razor.yaml with the new calibration parameters.