corvin rasp melodic
a616bc455f
更新imu_tools代码为最新版本,将串口发送imu数据话题的频率提高为50hz,在进行解析数据时,使用计算好的常量来代替除法乘法计算,减少计算量
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3 years ago | |
|---|---|---|
| .. | ||
| imu_complementary_filter | 3 years ago | |
| imu_filter_madgwick | 3 years ago | |
| imu_tools | 3 years ago | |
| rviz_imu_plugin | 3 years ago | |
| .gitignore | 3 years ago | |
| .travis.yml | 3 years ago | |
| Dockerfile-melodic | 3 years ago | |
| Dockerfile-noetic | 3 years ago | |
| LICENSE | 3 years ago | |
| LICENSE.bsd | 3 years ago | |
| LICENSE.gplv3 | 3 years ago | |
| README.md | 5 years ago | |
README.md
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].imu_complementary_filter: a filter which fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into an orientation quaternion using a novel approach based on a complementary fusion. Based on the work of [2].rviz_imu_plugina plugin for rviz which displayssensor_msgs::Imumessages
Installing
From source
Create a catkin workspace
(e.g., ~/ros-hydro-ws/) and source the devel/setup.bash file.
Make sure you have git installed:
sudo apt-get install git-core
Download the stack from our repository into your catkin workspace (e.g.,
ros-hydro-ws/src; use the proper branch for your distro, e.g., groovy,
hydro...):
git clone -b <distro> https://github.com/ccny-ros-pkg/imu_tools.git
Install any dependencies using rosdep.
rosdep install imu_tools
Compile the stack:
cd ~/ros-hydro-ws
catkin_make
More info
License
imu_filter_madgwick: currently licensed as GPL, following the original implementationimu_complementary_filter: BSDrviz_imu_plugin: BSD
References
[1] http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/