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].

• rviz_imu_plugin a plugin for rviz which displays sensor_msgs::Imu messages

Create a directory where you want the package downloaded (ex. ~/ros), and add it to $ROS_PACKAGE_PATH.

Make sure you have git installed:

sudo apt-get install git-core

Download the stack from our repository:

git clone https://github.com/ccny-ros-pkg/imu_tools.git

Checkout branch corresponding to your ros version.

Install any dependencies using rosdep.

rosdep install imu_tools

Compile the stack:

rosmake imu_tools

If you run into trouble using rosdep install imu_tools:

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
rviz_imu_plugin: Missing resource cmake_modules

Resolve with:

sudo apt-get install ros-hydro-cmake-modules

http://ros.org/wiki/imu_tools

• imu_filter_madgwick: currently licensed as GPL, following the original implementation

• rviz_imu_plugin: BSD

[1] http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms