Build ROS driver for IMU

[krush11]

The IMU used is Sparton AHRS-8P.

Todo:

• build a encoder to read data from IMU
• publish relevant output to a ROS topic

[obviyus]

Study the following standards before implementing:

• REP 103
• REP 105

[krush11]

Driver for IMU (Sparton ahrs-8p) ready and now publishes:-

• Orientation
• angular velocity
• linear acceleration

Using code base from: https://github.com/RoboticsClubatUCF/ucf_AHRS

[krush11]

Improved output data format which now publishes

• Orientation in degrees
• Angular velocity in radian/sec
• linear acceleration in m/s^2

[krush11]

IMU driver made according to the standards of

• REP 103
• REP 105