jwpleow / LSM9DS1_RPI_ROS

ROS publisher for the LSM9DS1 9DOF IMU connected to a Raspberry Pi

LSM9DS1 IMU on the Raspi, publishing to ROS

Replace the i2c bus your imu is connected to in wiringPiI2CSetup of LSM9DS1_RaspberryPi_Library/include/wiringPiI2C.h

Build

(i'm not bothering to use catkin here, so make sure you have sensor_msgs installed)

# source ros
mkdir build
cd build
cmake ..

Run

#source ros
./imu_ros

Publishes acceleration and gyro to /imu/data_temp and mag to /imu/mag.

Note: the data needs to be calibrated for scales/axis misalignment!

to publish to some other computer:

from http://wiki.ros.org/ROS/NetworkSetup
replace the ip in ROS_MASTER_URI to the one running roscore
e.g.

export ROS_MASTER_URI=http://192.168.1.58:11311/
export ROS_HOSTNAME=$(/bin/hostname) # these lower two should be the ip of the machine publishing
export ROS_IP=$(/bin/hostname -I) # this could return multiple ip's though
./imu_ros

Note: you may have to add the hostnames of each other in both computer's /etc/hosts
you also might have to deactivate/allow connections in ufw