New Stack: imu_tools

From Ivan Dryanovski at CCNY

Hi everyone,

We have put together a small stack with IMU-related tools, available here:

http://www.ros.org/wiki/imu_tools

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.

Cheers,

Ivan