jwpleow / SailMAV_ROS_RPI

ros nodes to publish camera and imu from the raspberry pi

Raspberry Pi ROS nodes

Publishes the raw camera feed to /camera
Publishes the IMU linear accel and gyro to /imu/data_raw
Publishes the IMU magnetometer readings to /imu/mag

=> can then use imu_tools madgwick filter to get orientation

Dependencies

ROS 1 (with image_transport, sensor_msgs and cv_bridge)

Setup raspberry pi 4B with Arducam:

Follow this gist: https://gist.github.com/jwpleow/7ad5ff0a24b67db39c93606133e62594

Build & Run

make sure to fix the roscore_ip and ROS_HOSTNAME variables in run.bash

bash build.bash
bash run.bash