MoffKalast / mpu9255

Forked and edited to work with my half broken IMU

A fork of: https://github.com/ARRevolution/MPU9255, edited to work with my half broken IMU

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Renamed package to mpu9255 to stop catkin complaining.

The original code magnetomter reads did not work and turned out have to read them from a separate I2C device address, plus set the I2C pass through bit on init. The setup register writes posted here made it work. Thanks :) https://stackoverflow.com/questions/36242308/arduino-sensor-10dof-mpu9255-cannot-fetch-magnetometer-data

Also Magnetometer data published was raw, so multiplied by 0.15 to give Magnetic Flux density in uT, as per page 50 - Table 4 in the "MPU-9255-Register-Map.pdf"

roslaunch mpu9255 imu.launch

rostopic echo /imu/data_raw

rostopic echo /imu/mag

ROS MPU9255 Node

c++ ROS node wrapper for the mpu9255 gyroscope / accelerometer/magnetometer.
Reads accelerometer, gyroscopic and magnetic data in 3D giving 9 Degrees of Freedom.
Publishes sensor_msgs::IMU to /imu/data_raw topic(angular_velocity and linear_acceleration).
Publishes sensor_msgs::MagneticField to /imu/data_raw topic(angular_velocity and linear_acceleration).
Supported interface : I2C.
used in Raspberry PI 3.\

Installation

First install WiringPI:

cd
git clone git://git.drogon.net/wiringPi
cd ~/wiringPi
./build

Then clone this repository into your ROS workspace(src folder):

git clone https://github.com/mdleiton/MPU9255.git

Compile it:

catkin_make
g++ offsetIMU.cpp -lwiringPi -o offsetIMU

Run a node:

./offsetIMU ofssetData.txt
source devel/setup.bash
rosrun MPU9255 MPU9255_node

Review the published data with:

rostopic echo /imu/data_raw
rostopic echo /imu/mag

Complementary filter

install imu-tools:

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

run launch file:

source devel/setup.bash
roslaunch MPU9255 imu.launch

reference: http://wiki.ros.org/imu_complementary_filter

Create a rosbag file (.bag)

run launch file:

source devel/setup.bash
roslaunch MPU9255 record_topic.launch

Get data from the topics of the .bag file:

rostopic echo -b file.bag -p /topic

Visualize Rviz:

source devel/setup.bash
roslaunch MPU9255 record_topic.launch
rviz 				# other terminal

Configure as FIG.1 or load config file in (rviz_config/imu.rviz)

GIF:

More information about published topics:

http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html
http://docs.ros.org/jade/api/sensor_msgs/html/msg/MagneticField.html