antlas1 / mpu9250_imu_ros

Arduino sketch using rosserial to retrieve a fusion quaternion from mpu9250. Another ROS node(converter) publishing IMU & Pose messages.

mpu9250_imu_ros

Arduino code(mpu9250_imu_driver/firmaware) employing rosserial to retrieve a quaternion from the mpu9250 DMP.

Then, another ROS node(mpu9250_imu_converter) publishing IMU & Pose messages to ROS.

The package is tested on Arduino Uno compatible & Asus Tinker board(Raspiberry Pi or PC maybe OK).

Test Environment

・MPU-9250/6500

・DFRobot Romeo mini v1.1(or Arduino UNO compatible etc)

・ROS melodic(or kinetic)

・Ubuntu 18.04 Tinker board(or Raspiberry Pi, PC etc)

Demo

$roslaunch mpu9250_imu_driver mpu9250_imu.launch

Video on youtube -> https://youtu.be/JMCs13modaU

Explanation

Explained in Japanese

Reference

jrowberg/i2cdevlib

Todo

Optimization