IMU tools for ROS

Overview

IMU-related filters and visualizers. The stack contains:

imu_filter_madgwick: a filter which fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into an orientation. Based on the work of [1].
rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

Create a directory where you want the package downloaded (ex. ~/ros), and add it to $ROS_PACKAGE_PATH.

Make sure you have git installed:

sudo apt-get install git-core

Download the stack from our repository:

git clone https://github.com/ccny-ros-pkg/imu_tools.git

Install any dependencies using rosdep.

rosdep install imu_tools

Compile the stack:

rosmake imu_tools

imu_filter_madgwick: currently licensed as GPL, following the original implementation
rviz_imu_plugin: BSD