SNU-Sigma / ros_ahrs

Arduino AHRS code connected to ROS via rosserial. Atom & Platformio environment required for build this project.

ROS_AHRS

Arduino AHRS code connected to ROS via rosserial. Atom & Platformio environment required for build this project. Rosserial package also required for gather ahrs topic from arduino. this package use Madgwick AHRS Algorithm

Atom : https://atom.io/

Platformio : http://platformio.org/

Rosserial : http://wiki.ros.org/rosserial

##Tutorial

1. Install Atom and Platformio and setup your hardware

Arduino UNO HMC5883L MPU6050

2. Clone this repo on your workspace

3. Upload this firmware to arduino (Ctrl + Alt + U)

4. Launch rosseiral node (CAUTION : DO NOT MOVE Gyro when power up arduino. && Serialport num(dev/ttyACMX) can be changed)

rosrun rosserial_python serial_node.py _baud:=1000000 /dev/ttyACM0 

5. It gives you imu/Quaternion topic