Chick92 / IMU-Dead-Reckoning

IMU pose tracking

IMU Dead Reckoning

Given ROS bag with IMU data, integrator the vehicle or human path. Here is a demo video:

Getting Started

Prerequisites

You need to prepare ROS system, then Eigen3 is also requested which can be installed like:

sudo apt-get install libeigen3-dev

Installing

You can download the code from github directly or use command line:

git pull https://github.com/Abekabe/IMU-Dead-Reckoning.git
cd IMU-Dead-Reckoning
catkin_make

Running the tests

First, you need to run the roscore, play the rosbag with IMU data, then execute the node:

roscore
rosbag play [your bag]
rosrun Imu_Integrator Imu_Integrator_node

Notice that the IMU topic is /imu/data and the marker which been published is in the /globa frame

Contributing

1. Fork it (https://github.com/yourname/yourproject/fork)
2. Create your feature branch (git checkout -b feature/fooBar)
3. Commit your changes (git commit -am 'Add some fooBar')
4. Push to the branch (git push origin feature/fooBar)
5. Create a new Pull Request

Versioning

• 0.1.0
  • The first proper release

Authors

• Caleb Lee - Initial work - Abekabe

License

This project is licensed under the GPL License.