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_plugin
a plugin for rviz which displays sensor_msgs::Imu
messages
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-commit
To run over all the files in the repo manually:
pre-commit run -a
To 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