Assume-Zhan / IMU_driver

IMU_driver

For MPU 6050

⛳ Before using

• Setup your hardware ---> watch this
• Download the complementary filter for IMU

sudo apt-get install ros-noetic-imu-tools

• Git clone the the package for IMU calibration

  By sunfu-chou

• Setup smBus

  For the i2c communication between IMU and Raspberry pi

sudo apt-get install python3-smbus

🚀 Launch file

• First usage
  • When you launch the file, the program will ask you to rotate the imu.
  • After the system tells you 'Saving calibration file... Success!', you can directly shutdown it.

roslaunch imu_driver imu_before.launch

• After

  After you successfully finished the launch file, you can only run the launch file below each time.

  ⚠️ Before it tells you 'Acceleration calibration complete! (bias = ...', you shouldn't move the IMU

roslaunch imu_driver imu.launch

🚀 Simulation

• Open rviz

rviz

• Open the configure file in "rviz/imu_rviz.rviz"

👁️‍🗨️ Procedure

• imu_readRaw.py read imu raw data and publish to topic "/raw"
• apply_calib subscribe the topic "/raw", calibrate the raw data and publish to topic "/imu/data_raw"
• madgwick filter subscribe the topic "/imu/data_raw" and publish the filtered data to "/imu/data"