From Ivan Dryanovski at CCNY
We have put together a small stack with IMU-related tools, available here:
The stack contains two packages:
rviz_imu_plugin - A plugin for rviz which visualizes IMU messages, displaying sensor orientation and acceleration.
imu_filter_madgwick - a general-purpose filter which fuses angular velocities, linear accelerations, and (optionally) magnetic field readings into an orientation quaternion. We've tested this with a Phidgets Spatial 3/3/3 IMU sensor (phidgets stack also coming soon).
More info is available at the wiki pages. As always, we welcome any feedback and suggestions.